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cs.RO2025
Learning Local Heuristics for Search-Based Navigation Planning
Rishi Veerapaneni, Muhammad Suhail Saleem, Maxim Likhachev
Graph search planning algorithms for navigation typically rely heavily on heuristics to efficiently plan paths. As a result, while such approaches require no training phase and can…
cs.RO2024
Constant-time Motion Planning with Anytime Refinement for Manipulation
Itamar Mishani, Hayden Feddock, Maxim Likhachev
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration…
cs.RO2024
A preprocessing-based planning framework for utilizing contacts in high-precision insertion tasks
Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev
In manipulation tasks like plug insertion or assembly that have low tolerance to errors in pose estimation (errors of the order of 2mm can cause task failure), the utilization of t…