21 citations · 58 across the 25 of their papers we have counts for
6 papers · 1 filter
Exact and Bounded Collision Probability for Motion Planning under Gaussian Uncertainty
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
Computing collision-free trajectories is of prime importance for safe navigation. We present an approach for computing the collision probability under Gaussian distributed motion a…
Task Allocation for Multi-Robot Task and Motion Planning: a case for Object Picking in Cluttered Workspaces
Hossein Karami, Antony Thomas, Fulvio Mastrogiovanni
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots,…
MPTP: Motion-Planning-aware Task Planning for Navigation in Belief Space
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environments. Of late, TMP for manipulation has attracted significant interest resulting…
Probabilistic Collision Constraint for Motion Planning in Dynamic Environments
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challen…
A Task-Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks
Hossein Karami, Antony Thomas, Fulvio Mastrogiovanni
We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction for compac…
An Integrated Localisation, Motion Planning and Obstacle Avoidance Algorithm in Belief Space
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the en…