Parts manufactured to tolerances have shape variations. Most work in robotic manipulation assumes that part shape does not vary. Orienting devices such as bowl feeders frequently ...
We present a hill-climbing algorithm to solve planning problems with temporal uncertainty. First an optimistic plan that is valid when all actions complete quickly is found. Then ...
— We propose a novel solution to the problem of inverse kinematics for redundant robotic manipulators for the purposes of goal selection for path planning. We unify the calculati...
Because of irreversibility of movements, motion planning on directed graphs is much more intricate than that on graphs. Recently we showed that the feasibility of motion planning o...
Planning in large, partially observable domains is challenging, especially when a long-horizon lookahead is necessary to obtain a good policy. Traditional POMDP planners that plan...