16 citations · 18 across the 8 of their papers we have counts for
8 papers
Scalable Multi-Robot Motion Planning Using Workspace Guidance-Informed Hypergraphs
Courtney McBeth, James Motes, Isaac Ngui +2
In this work, we propose a method for multiple mobile robot motion planning that efficiently plans for robot teams up to 128 robots (an order of magnitude larger than existing stat…
HAS-RRT: RRT-based Motion Planning using Topological Guidance
Diane Uwacu, Ananya Yammanuru, Keerthana Nallamotu +3
We present a hierarchical RRT-based motion planning strategy, Hierarchical Annotated-Skeleton Guided RRT (HAS-RRT), guided by a workspace skeleton, to solve motion planning problem…
Evaluating Guiding Spaces for Motion Planning
Amnon Attali, Stav Ashur, Isaac Burton Love +5
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem insta…
Scalable Multi-robot Motion Planning for Congested Environments With Topological Guidance
Courtney McBeth, James Motes, Diane Uwacu +2
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number…
Hierarchical Planning with Annotated Skeleton Guidance
Diane Uwacu, Ananya Yammanuru, Marco Morales +1
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant…
Discrete State-Action Abstraction via the Successor Representation
Amnon Attali, Pedro Cisneros-Velarde, Marco Morales +1
While the difficulty of reinforcement learning problems is typically related to the complexity of their state spaces, Abstraction proposes that solutions often lie in simpler under…
Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration
Tan Chen, Zhe Huang, James Motes +13
Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technol…
Persistent Covering of a Graph under Latency and Energy Constraints
Jyh-Ming Lien, Sam Rodriguez, Marco Morales
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practic…