5 papers · 1 filter
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…
Direct Informed Sampling on Riemannian Manifolds via Loewner Order Lower Bounds
Phone Thiha Kyaw, Jonathan Kelly
Informed sampling techniques accelerate sampling-based motion planners by focusing the search on promising regions of the state space, yet most existing methods rely on Euclidean h…
Risk-Averse Traversal of Graphs with Stochastic and Correlated Edge Costs for Safe Global Planetary Mobility
Olivier Lamarre, Jonathan Kelly
In robotic planetary surface exploration, strategic mobility planning is an important task that involves finding candidate long-distance routes on orbital maps and identifying segm…
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…
Safe Mission-Level Path Planning for Exploration of Lunar Shadowed Regions by a Solar-Powered Rover
Olivier Lamarre, Shantanu Malhotra, Jonathan Kelly
Exploration of the lunar south pole with a solar-powered rover is challenging due to the highly dynamic solar illumination conditions and the presence of permanently shadowed regio…