Publications (77)
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
Fahad Islam, Oren Salzman, Aditya Agarwal +1
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts…
SRMP: Search-Based Robot Motion Planning Library
Itamar Mishani, Yorai Shaoul, Ramkumar Natarajan +2
Motion planning is a critical component in any robotic system. Over the years, powerful tools like the Open Motion Planning Library (OMPL) have been developed, offering numerous mo…
Think Fast: Real-Time Kinodynamic Belief-Space Planning for Projectile Interception
Gabriel Olin, Lu Chen, Nayesha Gandotra +2
Intercepting fast moving objects, by its very nature, is challenging because of its tight time constraints. This problem becomes further complicated in the presence of sensor noise…
ePA*SE: Edge-based Parallel A* for Slow Evaluations
Shohin Mukherjee, Sandip Aine, Maxim Likhachev
Parallel search algorithms harness the multithreading capability of modern processors to achieve faster planning. One such algorithm is PA*SE (Parallel A* for Slow Expansions), whi…
Efficient Recovery Learning using Model Predictive Meta-Reasoning
Shivam Vats, Maxim Likhachev, Oliver Kroemer
Operating under real world conditions is challenging due to the possibility of a wide range of failures induced by execution errors and state uncertainty. In relatively benign sett…
Constant-time Motion Planning with Anytime Refinement for Manipulation
Itamar Mishani, Hayden Feddock, Maxim Likhachev
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration…