93 citations · 150 across the 14 of their papers we have counts for
6 papers · 1 filter
That and There: Judging the Intent of Pointing Actions with Robotic Arms
Malihe Alikhani, Baber Khalid, Rahul Shome +3
Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use point…
Asymptotically Optimal Sampling-based Planners
Kostas E. Bekris, Rahul Shome
An asymptotically optimal sampling-based planner employs sampling to solve robot motion planning problems and returns paths with a cost that converges to the optimal solution cost,…
Anytime Multi-arm Task and Motion Planning for Pick-and-Place of Individual Objects via Handoffs
Rahul Shome, Kostas E. Bekris
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipula…
dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning
Rahul Shome, Kiril Solovey, Andrew Dobson +2
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-qu…
Pushing the Boundaries of Asymptotic Optimality in Integrated Task and Motion Planning
Rahul Shome, Daniel Nakhimovich, Kostas E. Bekris
Integrated task and motion planning problems describe a multi-modal state space, which is often abstracted as a set of smooth manifolds that are connected via sets of transitions s…
Tight Robot Packing in the Real World: A Complete Manipulation Pipeline with Robust Primitives
Rahul Shome, Wei N. Tang, Changkyu Song +5
Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Des…