Abstract— We present the Constrained Bi-directional RapidlyExploring Random Tree (CBiRRT) algorithm for planning paths in configuration spaces with multiple constraints. This al...
Dmitry Berenson, Siddhartha S. Srinivasa, Dave Fer...
Abstract— This paper presents a novel methodology for detecting collisions of cylindrically shaped rigid bodies moving in three dimensions. This algorithm uses line geometry and ...
This paper presents a framework called Parallel Experiment Planning (PEP) that is based on an abstraction of how experiments are performed in the domain of macromolecular crystall...
Vanathi Gopalakrishnan, Bruce G. Buchanan, John M....
Abstract. We consider the problem of planning sensor control strategies that enable a sensor to be automatically configured for robot tasks. In this paper we present robust and eff...
Abstract— This paper describes a hierarchical planner deployed on a mobile manipulation system. The main idea is a two-level hierarchy combining a global planner which provides r...
Ross A. Knepper, Siddhartha S. Srinivasa, Matthew ...