4 papers · 1 filter
Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement
Isaac Ngui, Courtney McBeth, James D. Motes +2
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of sear…
Lazy-DaSH: Lazy Approach for Hypergraph-based Multi-robot Task and Motion Planning
Seongwon Lee, James Motes, Isaac Ngui +2
We introduce Lazy-DaSH, an improvement over the recent state of the art multi-robot task and motion planning method DaSH, which scales to more than double the number of robots and…
ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality
Isaac Ngui, Courtney McBeth, André Santos +6
We propose the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. Our system allows users to create and dynamical…
Extended Reality System for Robotic Learning from Human Demonstration
Isaac Ngui, Courtney McBeth, Grace He +4
Many real-world tasks are intuitive for a human to perform, but difficult to encode algorithmically when utilizing a robot to perform the tasks. In these scenarios, robotic systems…