20 citations · 21 across the 2 of their papers we have counts for
6 papers
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Jingkai Chen, Jiaoyang Li, Yijiang Huang +7
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs.…
Fast-reactive probabilistic motion planning for high-dimensional robots
Siyu Dai, Andreas Hofmann, Brian C. Williams
Many real-world robotic operations that involve high-dimensional humanoid robots require fast-reaction to plan disturbances and probabilistic guarantees over collision risks, where…
Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles
Charles Dawson, Ashkan Jasour, Andreas Hofmann +1
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning…
Fast Certification of Collision Probability Bounds with Uncertain Convex Obstacles
Charles Dawson, Andreas Hofmann, Brian Williams
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for bo…
Chance Constrained Motion Planning for High-Dimensional Robots
Siyu Dai, Shawn Schaffert, Ashkan Jasour +2
This paper introduces Probabilistic Chekov (p-Chekov), a chance-constrained motion planning system that can be applied to high degree-of-freedom (DOF) robots under motion uncertain…
Improving Trajectory Optimization using a Roadmap Framework
Siyu Dai, Matthew Orton, Shawn Schaffert +2
We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates…