425 citations · 1.8k across the 99 of their papers we have counts for
11 papers · 1 filter
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…
Assigning Credit with Partial Reward Decoupling in Multi-Agent Proximal Policy Optimization
Aditya Kapoor, Benjamin Freed, Howie Choset +1
Multi-agent proximal policy optimization (MAPPO) has recently demonstrated state-of-the-art performance on challenging multi-agent reinforcement learning tasks. However, MAPPO stil…
Propagative Distance Optimization for Constrained Inverse Kinematics
Yu Chen, Yilin Cai, Jinyun Xu +3
This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and…
General Place Recognition Survey: Towards Real-World Autonomy
Peng Yin, Jianhao Jiao, Shiqi Zhao +5
In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a corners…
A Convex Formulation of the Soft-Capture Problem
Ibrahima Sory Sow, Geordan Gutow, Howie Choset +1
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fu…
A Mixed-Integer Conic Program for the Moving-Target Traveling Salesman Problem based on a Graph of Convex Sets
Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam +1
This paper introduces a new formulation that finds the optimum for the Moving-Target Traveling Salesman Problem (MT-TSP), which seeks to find a shortest path for an agent, that sta…
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…