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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…
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…