2 papers
cs.RO2024
Asymptotically-Optimal Multi-Query Path Planning for a Polygonal Robot
Duo Zhang, Zihe Ye, Jingjin Yu
Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combine…
cs.RO2024
Toward Holistic Planning and Control Optimization for Dual-Arm Rearrangement
Kai Gao, Zihe Ye, Duo Zhang +2
Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuo…