Abstract-- Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by ...
Nathan D. Ratliff, Matt Zucker, J. Andrew Bagnell,...
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...
Abstract— Humanoid robots are appealing due to their inherent dexterity. However, these potential benefits may only be realized if the corresponding motion synthesis procedure i...
Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, com...
— We present an optimization-based approach to grasping and path planning for mobile manipulators. We focus on pick-and-place operations, where a given object must be moved from ...