21 citations · 140 across the 43 of their papers we have counts for
4 papers · 1 filter
Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael C. Koval, David Hsu, Nancy S. Pollard +1
This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact man…
The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds
Matthew Klingensmith, Michael C. Koval, Siddhartha S. Srinivasa +2
We estimate the state a noisy robot arm and underactuated hand using an Implicit Manifold Particle Filter (MPF) informed by touch sensors. As the robot touches the world, its state…
Rearrangement Planning via Heuristic Search
Jennifer E. King, Siddhartha S. Srinivasa
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achi…
A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors
Christopher M. Dellin, Siddhartha S. Srinivasa
While the shortest path problem has myriad applications, the computational efficiency of suitable algorithms depends intimately on the underlying problem domain. In this paper, we…