4 papers · 1 filter
geodex: A Library for Motion Planning on Riemannian Manifolds
Phone Thiha Kyaw, Ben Wei, Sepehr Samavi +2
Planning motions that respect the intrinsic geometry of a robot's configuration space, including its curvature and a configuration-dependent notion of cost, yields shorter, lower-e…
Induced Riemannian Metrics for Motion Planning with Constraints
Phone Thiha Kyaw, Thomas Cohn, Miguel Angel Rogel Garcia +1
In constrained motion planning problems, task and loop-closure constraints restrict a robot's motion to a curved, lower-dimensional submanifold of its configuration space. Planners…
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…