78 citations · 221 across the 28 of their papers we have counts for
4 papers · 1 filter
Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas +1
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great de…
Technical Report: A New Hopping Controller for Highly Dynamical Bipeds
Shane Rozen-Levy, Daniel E. Koditschek
We present angle of attack control, a novel control strategy for a hip energized Penn Jerboa. The energetic losses from damping are counteracted by aligning most of the velocity at…
Conley's fundamental theorem for a class of hybrid systems
Matthew D. Kvalheim, Paul Gustafson, Daniel E. Koditschek
We establish versions of Conley's (i) fundamental theorem and (ii) decomposition theorem for a broad class of hybrid dynamical systems. The hybrid version of (i) asserts that a glo…
Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback
Vasileios Vasilopoulos, Georgios Pavlakos, Karl Schmeckpeper +2
This paper solves the planar navigation problem by recourse to an online reactive scheme that exploits recent advances in SLAM and visual object recognition to recast prior geometr…