21 citations · 58 across the 25 of their papers we have counts for
4 papers · 1 filter
Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stag…
A Framework for Task and Motion Planning based on Expanding AND/OR Graphs
Fulvio Mastrogiovanni, Antony Thomas
Robot autonomy in space environments presents unique challenges, including high perception and motion uncertainty, strict kinematic constraints, and limited opportunities for human…
A Task and Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks
Hossein Karami, Antony Thomas, Fulvio Mastrogiovanni
In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we lev…
An Incremental Sampling and Segmentation-Based Approach for Motion Planning Infeasibility
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to…