2 papers
cs.RO2025
Dual-Arm Whole-Body Motion Planning: Leveraging Overlapping Kinematic Chains
Richard Cheng, Peter Werner, Carolyn Matl
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning…
cs.RO2025
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning
Peter Werner, Richard Cheng, Tom Stewart +2
In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning alg…