21 citations · 49 across the 10 of their papers we have counts for
12 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…
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…
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…
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…
Safe motion planning with environment uncertainty
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that acc…
Revisiting the Minimum Constraint Removal Problem in Mobile Robotics
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
The minimum constraint removal problem seeks to find the minimum number of constraints, i.e., obstacles, that need to be removed to connect a start to a goal location with a collis…
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…
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…
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…
Towards Multi-Robot Task-Motion Planning for Navigation in Belief Space
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on…
Task-assisted Motion Planning in Partially Observable Domains
Antony Thomas, Sunny Amatya, Fulvio Mastrogiovanni +1
We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the di…