2024
Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation.
CoRR, 2024
Nearest-Neighbourless Asymptotically Optimal Motion Planning with Fully Connected Informed Trees (FCIT*).
CoRR, 2024
Scaling Long-Horizon Online POMDP Planning via Rapid State Space Sampling.
CoRR, 2024
CaStL: Constraints as Specifications through LLM Translation for Long-Horizon Task and Motion Planning.
CoRR, 2024
Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation.
CoRR, 2024
Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking.
CoRR, 2024
Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Motion Planning with Pointclouds.
Proceedings of the Robotics: Science and Systems XX, 2024
Motions in Microseconds via Vectorized Sampling-Based Planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Accelerating Long-Horizon Planning with Affordance-Directed Dynamic Grounding of Abstract Strategies.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
2023
Scaling Multimodal Planning: Using Experience and Informing Discrete Search.
IEEE Trans. Robotics, February, 2023
Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces.
IEEE Robotics Autom. Lett., 2023
Robots as AI Double Agents: Privacy in Motion Planning.
IROS, 2023
Optimal Grasps and Placements for Task and Motion Planning in Clutter.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Object Reconfiguration with Simulation-Derived Feasible Actions.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
2022
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets.
IEEE Robotics Autom. Lett., 2022
Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces.
CoRR, 2022
Robowflex: Robot Motion Planning with MoveIt Made Easy.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
2021
HyperPlan: A Framework for Motion Planning Algorithm Selection and Parameter Optimization.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Using Experience to Improve Constrained Planning on Foliations for Multi-Modal Problems.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Finite-Horizon Synthesis for Probabilistic Manipulation Domains.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
2020
Informing Multi-Modal Planning with Synergistic Discrete Leads.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
2019
Exploring implicit spaces for constrained sampling-based planning.
Int. J. Robotics Res., 2019
2018
An incremental constraint-based framework for task and motion planning.
Int. J. Robotics Res., 2018
Sampling-Based Methods for Motion Planning with Constraints.
Annu. Rev. Control. Robotics Auton. Syst., 2018
2017
Decoupling Constraints from Sampling-Based Planners.
Proceedings of the Robotics Research, The 18th International Symposium, 2017
Robonaut 2 and you: Specifying and executing complex operations.
Proceedings of the 2017 IEEE Workshop on Advanced Robotics and its Social Impacts, 2017
2016
Incremental Task and Motion Planning: A Constraint-Based Approach.
Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016
Distributed Object Characterization with Local Sensing by a Multi-robot System.
Proceedings of the Distributed Autonomous Robotic Systems, 2016
2015
Distributed centroid estimation and motion controllers for collective transport by multi-robot systems.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
Kinematically constrained workspace control via linear optimization.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015
Pipelined Consensus for Global State Estimation in Multi-Agent Systems.
Proceedings of the 2015 International Conference on Autonomous Agents and Multiagent Systems, 2015