16 citations · 21 across the 6 of their papers we have counts for
6 papers
HAS-RRT: RRT-based Motion Planning using Topological Guidance
Diane Uwacu, Ananya Yammanuru, Keerthana Nallamotu +3
We present a hierarchical RRT-based motion planning strategy, Hierarchical Annotated-Skeleton Guided RRT (HAS-RRT), guided by a workspace skeleton, to solve motion planning problem…
Evaluating Guiding Spaces for Motion Planning
Amnon Attali, Stav Ashur, Isaac Burton Love +5
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem insta…
Scalable Multi-robot Motion Planning for Congested Environments With Topological Guidance
Courtney McBeth, James Motes, Diane Uwacu +2
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number…
Hierarchical Planning with Annotated Skeleton Guidance
Diane Uwacu, Ananya Yammanuru, Marco Morales +1
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant…
Annotated-skeleton Biased Motion Planning for Faster Relevant Region Discovery
Diane Uwacu, Regina Rex, Bonnie Wang +2
Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's…
Proceedings of the 1st International Workshop on Robot Learning and Planning (RLP 2016)
Nancy Amato, Charles Anderson, Gregory Chirikjian +13
Proceedings of the 1st International Workshop on Robot Learning and Planning (RLP 2016)