15 papers
Fibration Trees: A Unified Approach to Multi-Robot Motion Planning
Andreas Orthey, Florian T. Pokorny, Lydia E. Kavraki
State space projections and decompositions have emerged as powerful tools to tackle the curse of dimensionality in high-dimensional, multi-robot motion planning problems. However,…
Think Fast and Far: Long-Horizon Online POMDP Planning via Rapid State Sampling
Yuanchu Liang, Edward Kim, J. Arden Knoll +4
Partially Observable Markov Decision Processes (POMDPs) are a general and principled framework for motion planning under uncertainty. Despite tremendous improvement in the scalabil…
The Open Motion Planning Library 2.0
Weihang Guo, Theodoros Tyrovouzis, Emiliano Flores +5
The Open Motion Planning Library (OMPL), first released in 2008, has become a cornerstone of the motion planning community, providing implementations of a wide range of state-of-th…
Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness
Thai Duong, Clayton W. Ramsey, Zachary Kingston +2
Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately tr…
Using VLM Reasoning to Constrain Task and Motion Planning
Muyang Yan, Miras Mengdibayev, Ardon Floros +3
In task and motion planning, high-level task planning is done over an abstraction of the world to enable efficient search in long-horizon robotics problems. However, the feasibilit…
Python Bindings for a Large C++ Robotics Library: The Case of OMPL
Weihang Guo, Theodoros Tyrovouzis, Lydia E. Kavraki
Python bindings are a critical bridge between high-performance C++ libraries and the flexibility of Python, enabling rapid prototyping, reproducible experiments, and integration wi…