86 citations · 251 across the 40 of their papers we have counts for
40 papers · 1 filter
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…
Planning for Manipulation among Movable Objects: Deciding Which Objects Go Where, in What Order, and How
Dhruv Saxena, Maxim Likhachev
We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide,…
Planning for Complex Non-prehensile Manipulation Among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation
Dhruv Mauria Saxena, Maxim Likhachev
Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retri…