BDI (Belief, Desire, Intention) agent systems are very powerful, but they lack the ability to incorporate planning. There has been some previous work to incorporate planning withi...
Abstract— Robots need to track object. Object tracking efficiency completely depends on the accuracy of the motion model and of the sensory information. Interestingly, when mult...
We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-l...
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 present a motion planning algorithm that computes rough trajectories used by a contact-points planner as a guide to grow its search graph. We adapt collision-free mot...