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09/14/2023
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning
Traditional approaches for manipulation planning rely on an explicit geo...
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04/27/2023
Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning
Quadrotors are agile flying robots that are challenging to control. Cons...
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03/01/2023
Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort
The path planning problems arising in manipulation planning and in task ...
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11/28/2022
A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving
Robotic planning in real-world scenarios typically requires joint optimi...
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10/22/2022
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
A factored Nonlinear Program (Factored-NLP) explicitly models the depend...
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03/21/2022
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning
We consider time-optimal motion planning for dynamical systems that are ...
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03/03/2022
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
Optimal sampling based motion planning and trajectory optimization are t...
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10/07/2021