2 papers
cs.RO2026
Contact Modes Are Strata: What Geometric Structure Buys in Discrete-Continuous Planning
Phone Thiha Kyaw, Jonathan Kelly
Contact-rich manipulation poses a discrete question and a continuous one at once, namely which contacts are active and how to move while they hold. The two are coupled by a change…
cs.RO2024
The Importance of Adaptive Decision-Making for Autonomous Long-Range Planetary Surface Mobility
Olivier Lamarre, Jonathan Kelly
Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does n…