Zobrazeno 1 - 10
of 526
pro vyhledávání: '"Choset, Howie"'
Graphs of Convex Sets (GCS) is a recent method for synthesizing smooth trajectories by decomposing the planning space into convex sets, forming a graph to encode the adjacency relationships within the decomposition, and then simultaneously searching
Externí odkaz:
http://arxiv.org/abs/2410.08909
Autor:
Mick, Darwin, Pool, Taylor, Nagaraju, Madankumar Sathenahally, Kaess, Michael, Choset, Howie, Travers, Matt
We introduce a LiDAR inertial odometry (LIO) framework, called LiPO, that enables direct comparisons of different iterative closest point (ICP) point cloud registration methods. The two common ICP methods we compare are point-to-point (P2P) and point
Externí odkaz:
http://arxiv.org/abs/2410.08097
Autor:
Bhat, Anoop, Gutow, Geordan, Vundurthy, Bhaskar, Ren, Zhongqiang, Rathinam, Sivakumar, Choset, Howie
The moving target traveling salesman problem with obstacles (MT-TSP-O) is a generalization of the traveling salesman problem (TSP) where, as its name suggests, the targets are moving. A solution to the MT-TSP-O is a trajectory that visits each moving
Externí odkaz:
http://arxiv.org/abs/2409.09852
Autonomous robotic search has important applications in robotics, such as the search for signs of life after a disaster. When \emph{a priori} information is available, for example in the form of a distribution, a planner can use that distribution to
Externí odkaz:
http://arxiv.org/abs/2409.09164
Multi-agent proximal policy optimization (MAPPO) has recently demonstrated state-of-the-art performance on challenging multi-agent reinforcement learning tasks. However, MAPPO still struggles with the credit assignment problem, wherein the sheer diff
Externí odkaz:
http://arxiv.org/abs/2408.04295
This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and obstacle collision avoidance. Due to the high-dimensionality and compl
Externí odkaz:
http://arxiv.org/abs/2406.11572
Autor:
Yin, Peng, Jiao, Jianhao, Zhao, Shiqi, Xu, Lingyun, Huang, Guoquan, Choset, Howie, Scherer, Sebastian, Han, Jianda
In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a cornerstone technology. Despite the PR community's remarkable strides over th
Externí odkaz:
http://arxiv.org/abs/2405.04812
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing spacecraft to ac
Externí odkaz:
http://arxiv.org/abs/2405.00867
This paper introduces a new formulation that finds the optimum for the Moving-Target Traveling Salesman Problem (MT-TSP), which seeks to find a shortest path for an agent, that starts at a depot, visits a set of moving targets exactly once within the
Externí odkaz:
http://arxiv.org/abs/2403.04917
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several previous works have shown its benefits in high-dimensional continuous s
Externí odkaz:
http://arxiv.org/abs/2401.08948