4 citations · 4 across the 2 of their papers we have counts for
7 papers · 1 filter
Robust Physics-Based Manipulation by Interleaving Open and Closed-Loop Execution
Wisdom C. Agboh, Mehmet R. Dogar
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We…
Occlusion-Aware Search for Object Retrieval in Clutter
Wissam Bejjani, Wisdom C. Agboh, Mehmet R. Dogar +1
We address the manipulation task of retrieving a target object from a cluttered shelf. When the target object is hidden, the robot must search through the clutter for retrieving it…
Human-like Planning for Reaching in Cluttered Environments
Mohamed Hasan, Matthew Warburton, Wisdom C. Agboh +6
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configurat…
Parareal with a Learned Coarse Model for Robotic Manipulation
Wisdom Agboh, Oliver Grainger, Daniel Ruprecht +1
A key component of many robotics model-based planning and control algorithms is physics predictions, that is, forecasting a sequence of states given an initial state and a sequence…
Real-Time Online Re-Planning for Grasping Under Clutter and Uncertainty
Wisdom C. Agboh, Mehmet R. Dogar
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open…
Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under Uncertainty
Wisdom C. Agboh, Mehmet R. Dogar
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing d…