A. Frank Van Der Stappen — accepted AI-conference papers

2023

A fast two-stage approach for multi-goal path planning in a fruit tree

Werner Kroneman, João Valente, A. Frank Van Der Stappen

ICRA 2023poster

We consider the problem of planning the motion of a drone equipped with a robotic arm, tasked with bringing its end-effector up to many (150+) targets in a fruit tree; to inspect every piece of fruit, for example. The task is complicated by the intersection of a version of Neighborhood TSP (to find…

Cited by 6 Source ↗Scholar ↗

2016

Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes

Jeffrey Mahler, Florian T. Pokorny, Zoe McCarthy, A. Frank van der Stappen, Ken Goldberg

RA-L 2016

Caging grasps are valuable as they can be robust to bounded variations in object shape and pose, do not depend on friction, and enable transport of an object without full immobilization. Complete caging of an object is useful but may not be necessary in cases where forces such as gravity are present

Cited by 47 Source ↗code ↗Scholar ↗