— 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...
Abstract— Robotic manipulation is important for real, physical world applications. General Purpose manipulation with a robot (eg. delivering dishes, opening doors with a key, etc...
We consider symbolic dynamic programming (SDP) for solving Markov Decision Processes (MDP) with factored state and action spaces, where both states and actions are described by se...
Aswin Raghavan, Saket Joshi, Alan Fern, Prasad Tad...
— This paper describes a generation method for spatially natural biped walking. By limiting the COG (Center of Gravity) motion space to a sculptured surface, the degree of freedo...
— Randomly expanding trees are very effective in exploring high-dimensional spaces. Consequently, they are a powerful algorithmic approach to sampling-based single-query motion p...