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pro vyhledávání: '"Thomason, Wil"'
Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is collision c
Externí odkaz:
http://arxiv.org/abs/2406.02807
Autor:
Quintero-Peña, Carlos, Thomason, Wil, Kingston, Zachary, Kyrillidis, Anastasios, Kavraki, Lydia E.
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots such as mani
Externí odkaz:
http://arxiv.org/abs/2309.16862
Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more than 500x o
Externí odkaz:
http://arxiv.org/abs/2309.14545
3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to solve in
Externí odkaz:
http://arxiv.org/abs/2302.14161
Publikováno v:
IEEE Robotics and Automation Letters, vol. 7 num. 4, (2022). Pages 11370-11377
High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints between the d
Externí odkaz:
http://arxiv.org/abs/2210.09367
Autor:
Thomason, Wil, Kress-Gazit, Hadas
Integrated Task and Motion Planning (TMP) provides a promising class of approaches for solving robot planning problems with intricate symbolic and geometric constraints. However, the practical usefulness of TMP planners is limited by their need for s
Externí odkaz:
http://arxiv.org/abs/2105.06537
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make a range of
Externí odkaz:
http://arxiv.org/abs/2102.12684
Akademický článek
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Publikováno v:
ACM/IEEE International Conference on Human-Robot Interaction; 2018, p361-369, 9p
Publikováno v:
International Journal of Radio Frequency Identification Technology and Applications; 2018, Vol. 5 Issue: 1 p48-76, 29p