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,...
Abstract— We have recently proposed DSLX, a motion planner that significantly reduces the computational time for solving challenging kinodynamic problems by interleaving continu...
— The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension “task space” has proven to be an invaluable tool for designing feedback...
— In this video, we demonstrate the effectiveness of a kinodynamic planning strategy that allows a high-impedance quadruped to operate across a variety of rough terrain. At one e...
Sampling-based nonholonomic and kinodynamic planning iteratively constructs solutions with sampled controls. A constructed trajectory is returned as an acceptable solution if its &...