— Rapidly-exploring Random Trees (RRTs) are widely used to solve large planning problems where the scope prohibits the feasibility of deterministic solvers, but the efficiency o...
Alexander C. Shkolnik, Matthew Walter, Russ Tedrak...
Abstract— In this paper, we present an incremental, multiresolution motion planning algorithm designed for systems with differential constraints. Planning for these sytems is mor...
Abstract— To compute collision-free and dynamicallyfeasibile trajectories that satisfy high-level specifications given in a planning-domain definition language, this paper prop...
— In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot ...
Alexander C. Shkolnik, Michael Levashov, Ian R. Ma...
— Classical path planning does not address many of the challenges of robotic systems subject to differential constraints. While there have been many recent efforts to develop mot...