Heuristic searches such as A* search are a popular means of finding least-cost plans due to their generality, strong theoretical guarantees on completeness and optimality, simplicity in implementation and consistent behavior. In planning for robotic manipulation, however, these techniques are commonly thought of as impractical due to the high-dimensionality of the planning problem. In this paper, we present a heuristic search-based approach to motion planning for manipulation that does deal effectively with the high-dimensionality of the problem. The paper presents a summary of the approach along with applications to single-arm and dual-arm motion planning with upright constraints on a PR2 robot operating in non-trivial cluttered spaces. An...
Abstract—Kinematic planning for robotic arms has been shown to be capable of planning for robust man...
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Com...
This paper reviews the major contributions to the Motion Planning (MP) field throughout a 35-year pe...
Abstract — Heuristic searches such as A * search are a popular means of finding least-cost plans due...
Heuristic searches such as A* search are a popular means of finding least-cost plans due to their ge...
Heuristic searches such as A* search are a popular means of finding least-cost plans due to their ge...
Heuristic searches such as A* search are a popular means of finding least-cost plans due to their ge...
Abstract—Many motion planning problems in robotics are high dimensional planning problems. While sam...
Planning efficiently at task and motion levels allows the setting of new challenges for robotic mani...
In its original formulation, the motion planning problem considers the search of a robot path from a...
In planning robotic manipulations, heuristic searches are commonly considered impractical due to the...
This report presents automatic motion planning algorithms for robotic manipulators performing a vari...
Robots that operate in natural human environments must be capable of handling uncertain dynamics and...
Robots are being employed not only for assembly tasks, but also in domains like healthcare, mining, ...
We focus on relatively low dimensional robot motion planning problems, such as planning for navigati...
Abstract—Kinematic planning for robotic arms has been shown to be capable of planning for robust man...
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Com...
This paper reviews the major contributions to the Motion Planning (MP) field throughout a 35-year pe...
Abstract — Heuristic searches such as A * search are a popular means of finding least-cost plans due...
Heuristic searches such as A* search are a popular means of finding least-cost plans due to their ge...
Heuristic searches such as A* search are a popular means of finding least-cost plans due to their ge...
Heuristic searches such as A* search are a popular means of finding least-cost plans due to their ge...
Abstract—Many motion planning problems in robotics are high dimensional planning problems. While sam...
Planning efficiently at task and motion levels allows the setting of new challenges for robotic mani...
In its original formulation, the motion planning problem considers the search of a robot path from a...
In planning robotic manipulations, heuristic searches are commonly considered impractical due to the...
This report presents automatic motion planning algorithms for robotic manipulators performing a vari...
Robots that operate in natural human environments must be capable of handling uncertain dynamics and...
Robots are being employed not only for assembly tasks, but also in domains like healthcare, mining, ...
We focus on relatively low dimensional robot motion planning problems, such as planning for navigati...
Abstract—Kinematic planning for robotic arms has been shown to be capable of planning for robust man...
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Com...
This paper reviews the major contributions to the Motion Planning (MP) field throughout a 35-year pe...