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cs.RO2026
Sampling-Based Motion Planning with Scene Graphs Under Perception Constraints
Qingxi Meng, Emiliano Flores, Thai Duong +2
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain…
cs.RO2026
Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness
Thai Duong, Clayton W. Ramsey, Zachary Kingston +2
Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately tr…