4 papers · 1 filter
Scalable Rao-Blackwellized Online Planning for High-Dimensional POMDPs
Jiho Lee, Nisar Ahmed, Kyle Hollins Wray +1
Online planning under uncertainty remains a fundamental challenge for robotic systems operating in partially observable environments with high-dimensional state spaces. While sampl…
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
Max Conway, William Xie, Allen Devaraj +14
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodie…
Beyond Fixed Goal Delivery: Online POMDP Planning for Target Interception in Crowds
Himanshu Gupta, Kelvin Aladum, Nisar Ahmed +2
Target interception in crowded environments requires reaching a moving objective while navigating among multiple uncertain human agents. Since human navigation intent is not direct…
Efficient Multi-Robot Motion Planning with Precomputed Translation-Invariant Edge Bundles
Himanshu Gupta, Paul Motter, Aritra Chakrabarty +5
Solving multi-robot motion planning (MRMP) requires generating collision-free kinodynamically feasible trajectories for multiple interacting robots. We introduce Kinodynamic Transl…