6 papers · 1 filter
Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots
Jacob J. Johnson, Linjun Li, Fei Liu +2
Reliable real-time planning for robots is essential in today's rapidly expanding automated ecosystem. In such environments, traditional methods that plan by relaxing constraints be…
Neural Manipulation Planning on Constraint Manifolds
Ahmed H. Qureshi, Jiangeng Dong, Austin Choe +1
The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for mo…
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
Thai Duong, Nikhil Das, Michael Yip +1
This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in w…
CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures
Dimitri A. Schreiber, Hanpeng Jiang, Guosong Li +5
Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle…
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications
Nikhil Das, Michael Yip
This paper demonstrates that collision detection-intensive applications such as robotic motion planning may be accelerated by performing collision checks with a machine learning mo…
Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation
Florian Richter, Ryan K. Orosco, Michael C. Yip
Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experi…