3 papers
cs.RO2025
Constant-Time Motion Planning with Manipulation Behaviors
Nayesha Gandotra, Itamar Mishani, Maxim Likhachev
Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines. One of the key barriers is the lack…
cs.RO2025
Think Fast: Real-Time Kinodynamic Belief-Space Planning for Projectile Interception
Gabriel Olin, Lu Chen, Nayesha Gandotra +2
Intercepting fast moving objects, by its very nature, is challenging because of its tight time constraints. This problem becomes further complicated in the presence of sensor noise…
cs.AI2025
Anytime Single-Step MAPF Planning with Anytime PIBT
Nayesha Gandotra, Rishi Veerapaneni, Muhammad Suhail Saleem +3
PIBT is a popular Multi-Agent Path Finding (MAPF) method at the core of many state-of-the-art MAPF methods including LaCAM, CS-PIBT, and WPPL. The main utility of PIBT is that it i…