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of 13
pro vyhledávání: '"Hartmann, Valentin N."'
Autor:
Ortiz-Haro, Joaquim, Hönig, Wolfgang, Hartmann, Valentin N., Toussaint, Marc, Righetti, Ludovic
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic constraints makes the motion planning problem significantly harder, as it
Externí odkaz:
http://arxiv.org/abs/2403.10745
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random control inputs, their empirical convergence rate is often poor, especially
Externí odkaz:
http://arxiv.org/abs/2311.03553
Autor:
Hartmann, Valentin N., Toussaint, Marc
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously. We introduce a formulation of the problem that allows for an approac
Externí odkaz:
http://arxiv.org/abs/2305.17527
The path planning problems arising in manipulation planning and in task and motion planning settings are typically repetitive: the same manipulator moves in a space that only changes slightly. Despite this potential for reuse of information, few plan
Externí odkaz:
http://arxiv.org/abs/2303.00637
Publikováno v:
Proceedings of the International Symposium on Robotics Research (ISRR), 2022
Multiquery planning algorithms find paths between various different starts and goals in a single search space. They are designed to do so efficiently by reusing information across planning queries. This information may be computed before or during th
Externí odkaz:
http://arxiv.org/abs/2205.08480
We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT* (ST-RRT*), is a probabilistically complete, bidirectional motion planning algorithm, wh
Externí odkaz:
http://arxiv.org/abs/2203.02176
Efficient sampling from constraint manifolds, and thereby generating a diverse set of solutions for feasibility problems, is a fundamental challenge. We consider the case where a problem is factored, that is, the underlying nonlinear program is decom
Externí odkaz:
http://arxiv.org/abs/2011.04828
Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design iteration
Externí odkaz:
http://arxiv.org/abs/2003.07754
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