9 papers
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…
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
Fahad Islam, Oren Salzman, Aditya Agarwal +1
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts…
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
Fahad Islam, Chris Paxton, Clemens Eppner +3
In many applications, including logistics and manufacturing, robot manipulators operate in semi-structured environments alongside humans or other robots. These environments are lar…
Multi-Resolution A*
Wei Du, Fahad Islam, Maxim Likhachev
Heuristic search-based planning techniques are commonly used for motion planning on discretized spaces. The performance of these algorithms is heavily affected by the resolution at…
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
Fahad Islam, Oren Salzman, Aditya Agarwal +1
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts…
Planning, Learning and Reasoning Framework for Robot Truck Unloading
Fahad Islam, Anirudh Vemula, Sung-Kyun Kim +3
We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for…
Provable Indefinite-Horizon Real-Time Planning for Repetitive Tasks
Fahad Islam, Oren Salzman, Maxim Likhachev
In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g. sorting mail in a mailroom or pick and place objects on…
A Single-Planner Approach to Multi-Modal Humanoid Mobility
Andrew Dornbush, Karthik Vijayakumar, Sameer Bardapurkar +2
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably l…
Online, interactive user guidance for high-dimensional, constrained motion planning
Fahad Islam, Oren Salzman, Maxim Likhachev
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain g…