24 citations · 36 across the 9 of their papers we have counts for
3 papers · 1 filter
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…
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…