— In this paper, we consider a motion planning problem for a class of constrained nonlinear systems. In each simplex of a triangulation of the set of states, the nonlinear dynami...
We propose HyDICE, Hybrid DIscrete Continuous Exploration, a multi-layered approach for hybrid-system testing that integrates continuous sampling-based robot motion planning with d...
We present motion planning for dexterous manipulation by whole arm grasp system based on switching contact modes. Motion planning for such a system should consider changing dynami...
— A new hybrid motion planning technique based on Harmonic Functions (HF) and Probabilistic Roadmaps (PRM) is presented. The proposed approach consists of incrementally building ...
— The configuration space of a robot is partitioned into free space and C-obstacle space. Most of the prior work in collision detection and motion planning algorithms is targete...
Liangjun Zhang, Young J. Kim, Gokul Varadhan, Dine...