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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…