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— Single-query sampling-based motion planners are an efficient class of algorithms widely used today to solve challenging motion planning problems. This paper exposes the common...
Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its...
Abstract— High-dimensional problems arising from complex robotic systems test the limits of current motion planners and require the development of efficient distributed motion p...
— A central challenging problem in humanoid robotics is to plan and execute dynamic tasks in dynamic environments. Given that the environment is known, sampling-based online moti...
— The success of sampling-based motion planners has resulted in a plethora of methods for improving planning components, such as sampling and connection strategies, local planner...
— Sampling-based motion planners are often used to solve very high-dimensional planning problems. Many recent algorithms use projections of the state space to estimate properties...