5 papers
City-Wide Low-Altitude Urban Air Mobility: A Scalable Global Path Planning Approach via Risk-Aware Multi-Scale Cell Decomposition
Josue N. Rivera, Dengfeng Sun, Chen Lv
The realization of Urban Air Mobility (UAM) necessitates scalable global path planning algorithms capable of ensuring safe navigation within complex urban environments. This paper…
Recasting Classical Motion Planning for Contact-Rich Manipulation
Lin Yang, Huu-Thiet Nguyen, Chen Lv +1
In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate…
Planning for quasi-static manipulation tasks via an intrinsic haptic metric: a book insertion case study
Lin Yang, Sri Harsha Turlapati, Chen Lv +1
Contact-rich manipulation often requires strategic interactions with objects, such as pushing to accomplish specific tasks. We propose a novel scenario where a robot inserts a book…
A Planning Framework for Stable Robust Multi-Contact Manipulation
Lin Yang, Sri Harsha Turlapati, Zhuoyi Lu +2
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optim…
Path Planning in Complex Environments with Superquadrics and Voronoi-Based Orientation
Lin Yang, Ganesh Iyer, Baichuan Lou +3
Path planning in narrow passages is a challenging problem in various applications. Traditional planning algorithms often face challenges in complex environments like mazes and trap…