1 citations · 3 across the 10 of their papers we have counts for
10 papers
Uncertainty in space, time, and motion on the special Galilean group
Jonathan Kelly, Matthew Giamou
Classical mechanics unfolds within absolute time and Euclidean space, yet our knowledge of where events occur, when they occur, and how motion evolves is inherently uncertain. The…
Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds
Phone Thiha Kyaw, Jonathan Kelly
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean…
Galilean Symmetry in Robotics
Robert Mahony, Jonathan Kelly, Stephan Weiss
Galilean symmetry is the natural symmetry of inertial motion that underpins Newtonian physics. Although rigid-body symmetry is one of the most established and fundamental tools in…
Generating Stable Placements via Physics-guided Diffusion Models
Philippe Nadeau, Miguel Rogel, Ivan Bilić +2
Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and…
A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
Emmett Wise, Pushyami Kaveti, Qilong Chen +5
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few…
Robustness Assessment of Assemblies in Frictional Contact
Philippe Nadeau, Jonathan Kelly
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded…
Making Space for Time: The Special Galilean Group and Its Application to Some Robotics Problems
Jonathan Kelly
The special Galilean group, usually denoted SGal(3), is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and…
Automated Planning Domain Inference for Task and Motion Planning
Jinbang Huang, Allen Tao, Rozilyn Marco +3
Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP…
Stable Object Placement Planning From Contact Point Robustness
Philippe Nadeau, Jonathan Kelly
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object place…
Automated Continuous Force-Torque Sensor Bias Estimation
Philippe Nadeau, Miguel Rogel Garcia, Emmett Wise +1
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements…