3 papers
cs.RO2021
Planning Sensing Sequences for Subsurface 3D Tumor Mapping
Brian Y. Cho, Tucker Hermans, Alan Kuntz
Surgical automation has the potential to enable increased precision and reduce the per-patient workload of overburdened human surgeons. An effective automation system must be able…
cs.RO2020
Fast and resilient manipulation planning for target retrieval in clutter
Changjoo Nam, Jinhwi Lee, Sang Hun Cheong +2
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects…
cs.RO2020
Where to relocate?: Object rearrangement inside cluttered and confined environments for robotic manipulation
Sang Hun Cheong, Brian Y. Cho, Jinhwi Lee +2
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that dec…