21 citations · 58 across the 25 of their papers we have counts for
28 papers
Graph-Based Heuristics for Minimum Constraint Removal in Cluttered Robot Motion Planning
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
Humanoid and service robots operating in clut- tered human environments may encounter motion planning problems that are infeasible when all surrounding objects are treated as fixed…
Towards Kinematic Actionable Infeasibility Detection in Motion Planning
Aayush Rath, Lakshya Jindal, Antony Thomas
Motion planning in robotics requires not only computing collision-free paths but also certifying infeasibility when no such path exists. Complete methods are limited to low-dimensi…
Search, Ground, Plan: Functional Sufficiency for Task and Motion Planning under Incomplete Scene Knowledge
Narendhiran Vijayakumar, Nav Singhal, Girish Varma +1
Foundation models (FMs) have expanded task and motion planning (TAMP) to manipulation problems specified through language and visual observations. However, incomplete scene knowled…
A Horizon-slicing Approach to Minimum Obstacle Displacement Planning for Robot Navigation
Antony Thomas, Giulio Ferro, Fulvio Mastrogiovanni +2
In this paper, we investigate the Minimum Obstacle Displacement Planning problem from a robot motion planning perspective. The problem involves determining a feasible path to a goa…
Deciding If, When, and Where to Replan for Robust Manipulation
Puru Ojha, Narendhiran Vijayakumar, Nav Singhal +2
Foundation-model (FM) based task and motion planning (TAMP) methods typically assume that the full scene is known before planning. In long-horizon manipulation, however, relevant o…
Complete Motion Planning using Workspace-Fibered Decomposition for nR-Planar Manipulator
Aayush Rath, Antony Thomas
We propose a workspace-fibered decomposition framework for motion planning in nR planar redundant manipulators operating in cluttered environments. Rather than planning directly in…