5 citations · 9 across the 9 of their papers we have counts for
10 papers
CollisionSplatting: Collision-Aware Motion Planning in 3DGS Scenes with Image-Conditioned Objectives and Adjustable Conservatism
R. Khorrambakht, Joaquim Ortiz-Haro, Stephan Weiss +1
Incorporating dense visual information into motion planning remains challenging, as geometric planners rely on abstracted scene representations that discard visual richness, while…
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…
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning
Phillip Grote, Joaquim Ortiz-Haro, Marc Toussaint +1
Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an…
db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning
Akmaral Moldagalieva, Joaquim Ortiz-Haro, Wolfgang Hönig
This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging…
Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning
Welf Rehberg, Joaquim Ortiz-Haro, Marc Toussaint +1
Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality…
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…
A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving
Joaquim Ortiz-Haro, Erez Karpas, Michael Katz +1
Robotic planning in real-world scenarios typically requires joint optimization of logic and continuous variables. A core challenge to combine the strengths of logic planners and co…
db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning
Wolfgang Hoenig, Joaquim Ortiz-Haro, Marc Toussaint
We consider time-optimal motion planning for dynamical systems that are translation-invariant, a property that holds for many mobile robots, such as differential-drives, cars, airp…
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
Jay Kamat, Joaquim Ortiz-Haro, Marc Toussaint +2
Optimal sampling based motion planning and trajectory optimization are two competing frameworks to generate optimal motion plans. Both frameworks have complementary properties: Sam…
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning
Cornelius V. Braun, Joaquim Ortiz-Haro, Marc Toussaint +1
Sequential decision-making and motion planning for robotic manipulation induce combinatorial complexity. For long-horizon tasks, especially when the environment comprises many obje…