— A central challenging problem in humanoid robotics is to plan and execute dynamic tasks in dynamic environments. Given that the environment is known, sampling-based online moti...
We describe the interface between a real-time resource allocation system with an AI planner in order to create fault-tolerant plans that are guaranteed to execute in hard real-tim...
Ella M. Atkins, Tarek F. Abdelzaher, Kang G. Shin,...
— Humanoid robots are expected to share human environments in the future and it is important to ensure safety of their operation. A serious threat to safety is the fall of a huma...
We present empirical results of an auction-based algorithm for dynamic allocation of tasks to robots. The results have been obtained both in simulation and using real robots. A di...
Abstract— This paper provides proof-of-concept that stateof-the-art sampling-based motion planners that are tightly integrated with a physics-based simulator can compute paths th...
Ioan Alexandru Sucan, Jonathan F. Kruse, Mark Yim,...