100 citations · 154 across the 11 of their papers we have counts for
11 papers
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization
Joaquim Ortiz-Haro, Wolfgang Hönig, Valentin N. Hartmann +2
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic con…
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning
Joaquim Ortiz-Haro, Wolfgang Hoenig, Valentin N. Hartmann +1
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random contr…
Towards computing low-makespan solutions for multi-arm multi-task planning problems
Valentin N. Hartmann, Marc Toussaint
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously…
Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort
Valentin N. Hartmann, Joaquim Ortiz-Haro, Marc Toussaint
The path planning problems arising in manipulation planning and in task and motion planning settings are typically repetitive: the same manipulator moves in a space that only chang…
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort
Valentin N. Hartmann, Marlin P. Strub, Marc Toussaint +1
Multiquery planning algorithms find paths between various different starts and goals in a single search space. They are designed to do so efficiently by reusing information across…
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time
Francesco Grothe, Valentin N. Hartmann, Andreas Orthey +1
We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT* (ST-RRT*), is a p…
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
Valentin Noah Hartmann, Andreas Orthey, Danny Driess +2
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the rob…
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation
Joaquim Ortiz-Haro, Valentin N. Hartmann, Ozgur S. Oguz +1
Efficient sampling from constraint manifolds, and thereby generating a diverse set of solutions for feasibility problems, is a fundamental challenge. We consider the case where a p…
Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning
Valentin N. Hartmann, Ozgur S. Oguz, Danny Driess +2
Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems…
A Geometry-Based Approach for Solving the Transportation Problem with Euclidean Cost
Valentin Hartmann
In the semi-discrete version of Monge's problem one tries to find a transport map with minimum cost from an absolutely continuous measure on to a discrete me…
Semi-discrete optimal transport - the case p=1
Valentin Hartmann, Dominic Schuhmacher
We consider the problem of finding an optimal transport plan between an absolutely continuous measure on and a finitely supported measure …