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...
— Research on robotic manipulation has mainly focused on manipulating rigid objects so far. However, many important application domains require manipulating deformable objects, e...
We propose HyDICE, Hybrid DIscrete Continuous Exploration, a multi-layered approach for hybrid-system testing that integrates continuous sampling-based robot motion planning with d...
— We study the motion planning problem for planar star-shaped manipulators. These manipulators are formed by joining k “legs” to a common point (like the thorax of an insect)...