22 citations · 25 across the 7 of their papers we have counts for
4 papers · 1 filter
Approximate Multi-Objective Search Under Rulebooks
Omar Muhammetkulyyev, Oren Salzman, Tichakorn Wongpiromsarn
Robotic planning often involves multiple objectives with complex priority relationships, such as safety, efficiency, and regulatory compliance. Rulebooks formalize these relationsh…
Towards Contact-Aided Motion Planning for Tendon-Driven Continuum Robots
Priyanka Rao, Oren Salzman, Jessica Burgner-Kahrs
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typ…
T* -- Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems
Doron Pinsky, Petr Váňa, Jan Faigl +1
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on th…
Minimizing Task Space Frechet Error via Efficient Incremental Graph Search
Rachel Holladay, Oren Salzman, Siddhartha Srinivasa
We present an anytime algorithm that generates a collision-free configuration-space path that closely follows a desired path in task space, according to the discrete Frechet distan…