2 citations · 2 across the 8 of their papers we have counts for
8 papers · 1 filter
Sampling-Based Visibility Task Planning
Stav Ashur, Avishai Sintov
Robot Task and Motion Planning (TAMP) algorithms enable autonomous operation by incorporating the specific functions and constraints of end-effector tools, such as grippers or sold…
Serialized Red-Green-Gray: Quicker Heuristic Validation of Edges in Dynamic Roadmap Graphs
Yulie Arad, Stav Ashur, Marta Markowicz +3
Motion planning in dynamic environments, such as robotic warehouses, requires fast adaptation to frequent changes in obstacle poses. Traditional roadmap-based methods struggle in s…
Quick Heuristic Validation of Edges in Dynamic Roadmap Graphs
Yulie Arad, Stav Ashur, Nancy M. Amato
In this paper we tackle the problem of adjusting roadmap graphs for robot motion planning to non-static environments. We introduce the "Red-Green-Gray" paradigm, a modification of…
Edge Nearest Neighbor in Sampling-Based Motion Planning
Stav Ashur, Nancy M. Amato, Sariel Har-Peled
Neighborhood finders and nearest neighbor queries are fundamental parts of sampling based motion planning algorithms. Using different distance metrics or otherwise changing the def…
Faster Motion Planning via Restarts
Nancy Amato, Stav Ashur, Sariel Har-Peled%
Randomized methods such as PRM and RRT are widely used in motion planning. However, in some cases, their running-time suffers from inherent instability, leading to ``catastrophic''…
SPITE: Simple Polyhedral Intersection Techniques for modified Environments
Stav Ashur, Maria Lusardi, Marta Markowicz +4
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some…