3 papers
cs.RO2024
Advancing The Robotics Software Development Experience: Bridging Julia's Performance and Python's Ecosystem
Gustavo Nunes Goretkin, Joseph Carpinelli, Andy Park
Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this t…
cs.RO2022
Fully Persistent Spatial Data Structures for Efficient Queries in Path-Dependent Motion Planning Applications
Sathwik Karnik, Tomás Lozano-Pérez, Leslie Pack Kaelbling +1
Motion planning is a ubiquitous problem that is often a bottleneck in robotic applications. We demonstrate that motion planning problems such as minimum constraint removal, belief-…
cs.RO2019
Look before you sweep: Visibility-aware motion planning
Gustavo Goretkin, Leslie Pack Kaelbling, Tomás Lozano-Pérez
This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to r…