H. Choset

DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects

Yi Yang, Xiang Fei, Lehong Wang +5

Deformable linear objects (DLOs) such as wires, cables, and ropes are common in robotic manipulation tasks, yet simulating them with both visual realism and physical accuracy remai…

Two-Phase Bilevel Search for the Moving-Target Traveling Salesman Problem with Moving Obstacles

Allen George Philip, Anoop Bhat, Sivakumar Rathinam +1

The Moving-Target Traveling Salesman Problem (MT-TSP) seeks a minimum cost trajectory for an agent that departs from a static depot, visits a set of moving targets, each within one…

Optimal Solutions for the Moving Target Vehicle Routing Problem via Branch-and-Price with Relaxed Continuity

Anoop Bhat, Geordan Gutow, Zhongqiang Ren +2

The Moving Target Vehicle Routing Problem (MT-VRP) seeks trajectories for several agents that intercept a set of moving targets, subject to speed, time window, and capacity constra…

System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot

Benjamin Bokser, Daniel Gonzalez, Aaron Preston +39

Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terr…

Optimal Solutions for the Moving Target Vehicle Routing Problem with Obstacles via Lazy Branch-and-Price

Anoop Bhat, Geordan Gutow, David Neiman +4

The Moving Target Vehicle Routing Problem with Obstacles (MT-VRP-O) seeks trajectories for several agents that collectively intercept a set of moving targets. Each target has one o…

RPT*: Global Planning with Probabilistic Terminals for Target Search in Complex Environments

Yunpeng Lyu, Chao Cao, Ji Zhang +2

Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Pr…

Autonomously Unweaving Multiple Cables Using Visual Feedback

Tina Tian, Xinyu Wang, Andrew L. Orekhov +4

Many cable management tasks involve separating out the different cables and removing tangles. Automating this task is challenging because cables are deformable and can have combina…

Think Fast: Real-Time Kinodynamic Belief-Space Planning for Projectile Interception

Gabriel Olin, Lu Chen, Nayesha Gandotra +2

Intercepting fast moving objects, by its very nature, is challenging because of its tight time constraints. This problem becomes further complicated in the presence of sensor noise…

Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis

Yu Chen, Botao He, Yuemin Mao +7

For many complex tasks, multi-finger robot hands are poised to revolutionize how we interact with the world, but reliably grasping objects remains a significant challenge. We focus…

The Omega Turn: A General Turning Template for Elongate Robots

Baxi Chong, Tianyu Wang, Kelimar Diaz +12

Elongate limbless robots have the potential to locomote through tightly packed spaces for applications such as search-and-rescue and industrial inspections. The capability to effec…

Multi-CAP: A Multi-Robot Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments

Zongyuan Shen, Burhanuddin Shirose, Prasanna Sriganesh +3

Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reduc…

NavMoE: Hybrid Model- and Learning-based Traversability Estimation for Local Navigation via Mixture of Experts

Botao He, Amir Hossein Shahidzadeh, Yu Chen +8

This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions whil…

Parallel, Asymptotically Optimal Algorithms for Moving Target Traveling Salesman Problems

Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3

The Moving Target Traveling Salesman Problem (MT-TSP) seeks a trajectory that intercepts several moving targets, within a particular time window for each target. When generic nonli…

Optimizing Start Locations in Ergodic Search for Disaster Response

Ananya Rao, Alyssa Hargis, David Wettergreen +1

In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in…

Automatic Cannulation of Femoral Vessels in a Porcine Shock Model

Nico Zevallos, Cecilia G. Morales, Andrew Orekhov +7

Rapid and reliable vascular access is critical in trauma and critical care. Central vascular catheterization enables high-volume resuscitation, hemodynamic monitoring, and advanced…

A Complete and Bounded-Suboptimal Algorithm for a Moving Target Traveling Salesman Problem with Obstacles in 3D

Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3

The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within spe…

Ergodic Exploration over Meshable Surfaces

Dayi Dong, Albert Xu, Geordan Gutow +2

Robotic search and rescue, exploration, and inspection require trajectory planning across a variety of domains. A popular approach to trajectory planning for these types of mission…

Multi-Agent Ergodic Exploration under Smoke-Based, Time-Varying Sensor Visibility Constraints

Elena Wittemyer, Ananya Rao, Ian Abraham +1

In this work, we consider the problem of multi-agent informative path planning (IPP) for robots whose sensor visibility continuously changes as a consequence of a time-varying natu…

A Mixed-Integer Conic Program for the Multi-Agent Moving-Target Traveling Salesman Problem

Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam +1

The Moving-Target Traveling Salesman Problem (MT-TSP) seeks a shortest path for an agent that starts at a stationary depot, visits a set of moving targets exactly once, each within…

A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles

Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3

The moving target traveling salesman problem with obstacles (MT-TSP-O) is a generalization of the traveling salesman problem (TSP) where, as its name suggests, the targets are movi…

Implicit Graph Search for Planning on Graphs of Convex Sets

Ramkumar Natarajan, Chaoqi Liu, Howie Choset +1

Graphs of Convex Sets (GCS) is a recent method for synthesizing smooth trajectories by decomposing the planning space into convex sets, forming a graph to encode the adjacency rela…

LiPO: LiDAR Inertial Odometry for ICP Comparison

Darwin Mick, Taylor Pool, Madankumar Sathenahally Nagaraju +3

We introduce a LiDAR inertial odometry (LIO) framework, called LiPO, that enables direct comparisons of different iterative closest point (ICP) point cloud registration methods. Th…

Measure Preserving Flows for Ergodic Search in Convoluted Environments

Albert Xu, Bhaskar Vundurthy, Geordan Gutow +3

Autonomous robotic search has important applications in robotics, such as the search for signs of life after a disaster. When \emph{a priori} information is available, for example…