3 accepted papers
This letter focuses on the problem of planning robust trajectories for system with initial state uncertainty. While asymptotically-optimal methods have been proposed for many motion planning applications, there is no prior method which is able to guarantee asymptotic (near-)optimality for planning w
Sampling-based algorithms provide efficient solutions to high-dimensional, geometrically complex motion planning problems. For these methods asymptotic results are known in terms of completeness and optimality. Previous work by the authors argued that such methods also provide probabilistic near-opt…
This paper describes the topology of general multi-arm prehensile manipulation. Reasonable assumptions are applied to reduce the number of manipulation modes, which results in an explicit graphical representation for multi-arm manipulation that is computationally manageable to store and search for s…