356 citations · 1k across the 80 of their papers we have counts for
86 papers
Asymptotically Optimal Belief Space Planning in Discrete Partially-Observable Domains
Janis Eric Freund, Camille Phiquepal, Andreas Orthey +1
Robots often have to operate in discrete partially observable worlds, where the states of world are only observable at runtime. To react to different world states, robots need cont…
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning
Phillip Grote, Joaquim Ortiz-Haro, Marc Toussaint +1
Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an…
db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning
Akmaral Moldagalieva, Joaquim Ortiz-Haro, Wolfgang Hönig
This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging…
Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation
Hongyou Zhou, Ingmar Schubert, Marc Toussaint +1
In this paper, we propose using deep neural architectures (i.e., vision transformers and ResNet) as heuristics for sequential decision-making in robotic manipulation problems. This…
Towards computing low-makespan solutions for multi-arm multi-task planning problems
Valentin N. Hartmann, Marc Toussaint
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously…
Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning
Welf Rehberg, Joaquim Ortiz-Haro, Marc Toussaint +1
Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality…