2 citations · 2 across the 4 of their papers we have counts for
11 papers · 1 filter
Multi-Arm Bin-Picking in Real-Time: A Combined Task and Motion Planning Approach
Ilyes Toumi, Andreas Orthey, Alexander von Rohr +1
Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect poss…
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time
Francesco Grothe, Valentin N. Hartmann, Andreas Orthey +1
We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT* (ST-RRT*), is a p…
Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning
Andreas Orthey, Florian T. Pokorny, Marc Toussaint
In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of…
Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts
Marie-Therese Khoury, Andreas Orthey, Marc Toussaint
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one…
Sparse Multilevel Roadmaps for High-Dimensional Robot Motion Planning
Andreas Orthey, Marc Toussaint
Sparse roadmaps are important to compactly represent state spaces, to determine problems to be infeasible and to terminate in finite time. However, sparse roadmaps do not scale wel…
Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning
Andreas Orthey, Marc Toussaint
Sampling-based planning methods often become inefficient due to narrow passages. Narrow passages induce a higher runtime, because the chance to sample them becomes vanishingly smal…