— In this paper, we present efficient solutions for planning motions of dual-arm manipulation and re-grasping tasks. Motion planning for such tasks on humanoid robots with a hig...
Niko Vahrenkamp, Dmitry Berenson, Tamim Asfour, Ja...
We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body....
We develop a new motion planning algorithm for a variant of a Dubins car with binary left/right steering and apply it to steerable needles, a new class of flexible beveltip medica...
Ron Alterovitz, Michael S. Branicky, Kenneth Y. Go...
Abstract— This paper presents the Discrete Search Leading continuous eXploration (DSLX) planner, a multi-resolution approach to motion planning that is suitable for challenging p...
Motion planning for mobile agents, such as robots, acting in the physical world is a challenging task, which traditionally concerns safe obstacle avoidance. We are interested in p...