— Motion planning for robotic arms is important for real, physical world applications. The planning for arms with high-degree-of-freedom (DOF) is hard because its search space is...
Abstract Partially observable Markov decision processes (POMDPs) are a principled mathematical framework for planning under uncertainty, a crucial capability for reliable operation...
Hanna Kurniawati, Yanzhu Du, David Hsu, Wee Sun Le...
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...
— This paper addresses a method to optimize the robot motion planning in dynamic environments, avoiding the moving and static obstacles while the robot drives towards the goal. T...
— In this work, we have extended the concept of constrained motion control of robots to surgical tasks that require multiple robots. We present virtual fixtures to guide the mot...