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09/12/2023
Inspection planning under execution uncertainty
Autonomous inspection tasks necessitate effective path-planning mechanis...
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07/20/2023
Introducing Delays in Multi-Agent Path Finding
We consider a Multi-Agent Path Finding (MAPF) setting where agents have ...
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05/19/2023
Terraforming – Environment Manipulation during Disruptions for Multi-Agent Pickup and Delivery
In automated warehouses, teams of mobile robots fulfill the packaging pr...
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11/06/2022
Wall Street Tree Search: Risk-Aware Planning for Offline Reinforcement Learning
Offline reinforcement-learning (RL) algorithms learn to make decisions u...
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04/04/2022
T*ε – Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems
We consider the problem of finding collision-free paths for curvature-co...
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03/20/2022
Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation
Multi-agent pathfinding (MAPF) is concerned with planning collision-free...
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02/10/2022
Towards Predicting Fine Finger Motions from Ultrasound Images via Kinematic Representation
A central challenge in building robotic prostheses is the creation of a ...
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02/09/2022
Leveraging Experience in Lifelong Multi-Agent Pathfinding
In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs ...
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10/06/2021
Resolution-Optimal Motion Planning for Steerable Needles
Medical steerable needles can follow 3D curvilinear trajectories inside ...
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07/11/2021
Toward Certifiable Motion Planning for Medical Steerable Needles
Medical steerable needles can move along 3D curvilinear trajectories to ...
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05/23/2021
Cooperative Multi-Agent Path Finding: Beyond Path Planning and Collision Avoidance
We introduce the Cooperative Multi-Agent Path Finding (Co-MAPF) problem,...
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04/18/2021
Revisiting the Complexity Analysis of Conflict-Based Search: New Computational Techniques and Improved Bounds
The problem of Multi-Agent Path Finding (MAPF) calls for finding a set o...
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03/25/2021
Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search
The inspection-planning problem calls for computing motions for a robot ...
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01/15/2021
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
In warehouse and manufacturing environments, manipulation platforms are ...
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01/06/2021
A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles
Steerable needles are capable of accurately targeting difficult-to-reach...
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06/18/2020
Approximate bi-criteria search by efficient representation of subsets of the Pareto-optimal frontier
We consider the bi-criteria shortest-path problem where we want to compu...
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03/19/2020
Provably Constant-Time Planning and Re-planning for Real-time Grasping Objects off a Conveyor
In warehousing and manufacturing environments, manipulation platforms ar...
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10/27/2019
Task-Informed Fidelity Management for Speeding Up Robotics Simulation
Simulators are an important tool in robotics that is used to develop rob...
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10/21/2019
Planning, Learning and Reasoning Framework for Robot Truck Unloading
We consider the task of autonomously unloading boxes from trucks using a...
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08/25/2019
A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction
Planning for multi-robot coverage seeks to determine collision-free path...
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07/01/2019
Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search
Inspection planning, the task of planning motions that allow a robot to ...
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04/04/2019
Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles
Lazy search algorithms can efficiently solve problems where edge evaluat...
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01/23/2019
Provable Infinite-Horizon Real-Time Planning for Repetitive Tasks
In manufacturing and automation settings, robots often have to perform h...
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03/13/2018
Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges
Motion-planning problems, such as manipulation in cluttered environments...
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12/02/2017
Effective Footstep Planning for Humanoids Using Homotopy-Class Guidance
Planning the motion for humanoid robots is a computationally-complex tas...
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11/10/2017
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
We propose an algorithmic framework for efficient anytime motion plannin...
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10/18/2017
Minimizing Task Space Frechet Error via Efficient Incremental Graph Search
We present an algorithm that generates a collision-free configuration-sp...
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10/17/2017
Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo
Asymptotically-optimal motion planners such as RRT* have been shown to i...
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10/11/2017
The Provable Virtue of Laziness in Motion Planning
The Lazy Shortest Path (LazySP) class consists of motion-planning algori...
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10/11/2017
Online, interactive user guidance for high-dimensional, constrained motion planning
We consider the problem of planning a collision-free path for a high-dim...
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06/09/2017