Abstract— We provide a method for planning under uncertainty for robotic manipulation by partitioning the configuration space into a set of regions that are closed under complia...
— The problem of simultaneous localization and mapping (SLAM) is one of the most studied in the robotics literature. Most existing approaches, however, focus on scenarios where l...
— We introduce the Oracular Partially Observable Markov Decision Process (OPOMDP), a type of POMDP in which the world produces no observations; instead there is an “oracle,” ...
The paper introduces and formalizes a distributed approach for the model-based monitoring of the execution of a plan, where concurrent actions are carried on by a team of mobile r...
Whether they are asked to polish or assemble parts, clean the house or open doors, the future generation of robots will have to cope with contact tasks under uncertainty in a stabl...
Tine Lefebvre, Jing Xiao, Herman Bruyninckx, Gudru...