56 citations · 56 across the 4 of their papers we have counts for
5 papers · 1 filter
RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks
Yeping Wang, Pragathi Praveena, Daniel Rakita +1
Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equ…
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston +5
Recently, there has been a wealth of development in motion planning for robotic manipulation new motion planners are continuously proposed, each with their own unique strengths and…
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…
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…
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…