9 citations · 21 across the 7 of their papers we have counts for
7 papers
PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning
Ramkumar Natarajan, Shohin Mukherjee, Howie Choset +1
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several p…
A-ePA*SE: Anytime Edge-Based Parallel A* for Slow Evaluations
Hanlan Yang, Shohin Mukherjee, Maxim Likhachev
Anytime search algorithms are useful for planning problems where a solution is desired under a limited time budget. Anytime algorithms first aim to provide a feasible solution quic…
GePA*SE: Generalized Edge-Based Parallel A* for Slow Evaluations
Shohin Mukherjee, Maxim Likhachev
Parallel search algorithms have been shown to improve planning speed by harnessing the multithreading capability of modern processors. One such algorithm PA*SE achieves this by par…
ePA*SE: Edge-based Parallel A* for Slow Evaluations
Shohin Mukherjee, Sandip Aine, Maxim Likhachev
Parallel search algorithms harness the multithreading capability of modern processors to achieve faster planning. One such algorithm is PA*SE (Parallel A* for Slow Expansions), whi…
MPLP: Massively Parallelized Lazy Planning
Shohin Mukherjee, Sandip Aine, Maxim Likhachev
Lazy search algorithms have been developed to efficiently solve planning problems in domains where the computational effort is dominated by the cost of edge evaluation. The existin…
Reactive Long Horizon Task Execution via Visual Skill and Precondition Models
Shohin Mukherjee, Chris Paxton, Arsalan Mousavian +3
Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary t…
A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction
Tushar Kusnur, Shohin Mukherjee, Dhruv Mauria Saxena +4
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persist…