56 citations · 143 across the 20 of their papers we have counts for
5 papers · 1 filter
COVER:COverage-VErified Roadmaps for Fixed-time Motion Planning in Continuous Semi-Static Environments
Niranjan Kumar Ilampooranan, Constantinos Chamzas
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where mo…
Learning Discrete Abstractions for Visual Rearrangement Tasks Using Vision-Guided Graph Coloring
Abhiroop Ajith, Constantinos Chamzas
Learning abstractions directly from data is a core challenge in robotics. Humans naturally operate at an abstract level, reasoning over high-level subgoals while delegating executi…
ActivePusher: Active Learning and Planning with Residual Physics for Nonprehensile Manipulation
Zhuoyun Zhong, Seyedali Golestaneh, Constantinos Chamzas
Planning with learned dynamics models offers a promising approach toward versatile real-world manipulation, particularly in nonprehensile settings such as pushing or rolling, where…
Multi-layer Motion Planning with Kinodynamic and Spatio-Temporal Constraints
Jeel Chatrola, Abhiroop Ajith, Kevin Leahy +1
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes pot…
Image-Based Roadmaps for Vision-Only Planning and Control of Robotic Manipulators
Sreejani Chatterjee, Abhinav Gandhi, Berk Calli +1
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vi…