8 papers · 1 filter
Complete Motion Planning using Workspace-Fibered Decomposition for nR-Planar Manipulator
Aayush Rath, Antony Thomas
We propose a workspace-fibered decomposition framework for motion planning in nR planar redundant manipulators operating in cluttered environments. Rather than planning directly in…
Robust Fleet Sizing for Multi-UAV Inspection Missions under Synchronized Replacement Demand
Vishal Ramesh, Antony Thomas
Multi-UAV inspection missions require spare drones to replace active drones during recharging cycles. Existing fleet-sizing approaches often assume steady-state operating condition…
An Incremental Sampling and Segmentation-Based Approach for Motion Planning Infeasibility
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to…
SPOT: Spatio-Temporal Obstacle-free Trajectory Planning for UAVs in Unknown Dynamic Environments
Astik Srivastava, Thomas J Chackenkulam, Bitla Bhanu Teja +2
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal p…
Learning Motion Feasibility from Point Clouds in Cluttered Environments
Sajid Ansari, Arthi, Girish Varma +1
Motion feasibility prediction plays a central role in robotics, particularly in task and motion planning and manipulation. A major bottleneck for this problem in cluttered environm…
Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps
Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stag…