3 papers
cs.RO2021
Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods
Daniel Rakita, Bilge Mutlu, Michael Gleicher
In this paper, we present a meta-algorithm intended to accelerate many existing path optimization algorithms. The central idea of our work is to strategically break up a waypoint p…
cs.RO2021
Single-query Path Planning Using Sample-efficient Probability Informed Trees
Daniel Rakita, Bilge Mutlu, Michael Gleicher
In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. It…
cs.RO2021
CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance
Daniel Rakita, Haochen Shi, Bilge Mutlu +1
In this work, we present a per-instant pose optimization method that can generate configurations that achieve specified pose or motion objectives as best as possible over a sequenc…