86 citations · 251 across the 40 of their papers we have counts for
9 papers · 1 filter
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
Fahad Islam, Chris Paxton, Clemens Eppner +3
In many applications, including logistics and manufacturing, robot manipulators operate in semi-structured environments alongside humans or other robots. These environments are lar…
Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks
Tushar Kusnur, Dhruv Mauria Saxena, Maxim Likhachev
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tas…
Reactive Long Horizon Task Execution via Visual Skill and Precondition Models
Shohin Mukherjee, Chris Paxton, Arsalan Mousavian +3
Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary t…
CMAX++ : Leveraging Experience in Planning and Execution using Inaccurate Models
Anirudh Vemula, J. Andrew Bagnell, Maxim Likhachev
Given access to accurate dynamical models, modern planning approaches are effective in computing feasible and optimal plans for repetitive robotic tasks. However, it is difficult t…
PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation
Aditya Agarwal, Yupeng Han, Maxim Likhachev
Pose estimation of known objects is fundamental to tasks such as robotic grasping and manipulation. The need for reliable grasping imposes stringent accuracy requirements on pose e…
Multi-Resolution A*
Wei Du, Fahad Islam, Maxim Likhachev
Heuristic search-based planning techniques are commonly used for motion planning on discretized spaces. The performance of these algorithms is heavily affected by the resolution at…