5 citations · 7 across the 5 of their papers we have counts for
5 papers
Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
John Z. Zhang, Maks Sorokin, Jan Brüdigam +14
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by perfor…
Liability, Ethics, and Culture-Aware Behavior Specification using Rulebooks
Andrea Censi, Konstantin Slutsky, Tichakorn Wongpiromsarn +4
The behavior of self-driving cars must be compatible with an enormous set of conflicting and ambiguous objectives, from law, from ethics, from the local culture, and so on. This pa…
Efficient Nearest-Neighbor Search for Dynamical Systems with Nonholonomic Constraints
Valerio Varricchio, Brian Paden, Dmitry Yershov +1
Nearest-neighbor search dominates the asymptotic complexity of sampling-based motion planning algorithms and is often addressed with k-d tree data structures. While it is generally…
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles
Brian Paden, Michal Cap, Sze Zheng Yong +2
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportat…
Planning for Optimal Feedback Control in the Volume of Free Space
Dmitry Yershov, Michael Otte, Emilio Frazzoli
The problem of optimal feedback planning among obstacles in d-dimensional configuration spaces is considered. We present a sampling-based, asymptotically optimal feedback planning…