86 citations · 251 across the 40 of their papers we have counts for
49 papers
A-MHA*: Anytime Multi-Heuristic A*
Ramkumar Natarajan, Muhammad Suhail Saleem, William Xiao +3
Designing good heuristic functions for graph search requires adequate domain knowledge. It is often easy to design heuristics that perform well and correlate with the underlying tr…
A preprocessing-based planning framework for utilizing contacts in high-precision insertion tasks
Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev
In manipulation tasks like plug insertion or assembly that have low tolerance to errors in pose estimation (errors of the order of 2mm can cause task failure), the utilization of t…
PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning
Ramkumar Natarajan, Shohin Mukherjee, Howie Choset +1
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several p…
Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator
Ramkumar Natarajan, Hanlan Yang, Qintong Xie +6
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfull…
Constant-time Motion Planning with Anytime Refinement for Manipulation
Itamar Mishani, Hayden Feddock, Maxim Likhachev
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration…
A-ePA*SE: Anytime Edge-Based Parallel A* for Slow Evaluations
Hanlan Yang, Shohin Mukherjee, Maxim Likhachev
Anytime search algorithms are useful for planning problems where a solution is desired under a limited time budget. Anytime algorithms first aim to provide a feasible solution quic…