Changrak Choi

2 accepted papers

2022

Multi-Robot Motion Planning via Parabolic Relaxation

Changrak Choi, Muhammad Adil, Amir Rahmani, Ramtin Madani

RA-L 2022

Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP) methods in the literature adopt de-coupled approaches that sac

Cited by 5 Source ↗Scholar ↗

2017

Torque efficient motion through singularity

Changrak Choi, Emilio Frazzoli

ICRA 2017poster

Constraint on the actuation and power resources is often the critical limiting factor for a robot to perform desired tasks. Increasing torque and energy capacity may be a solution, but is seldom viable for robots already built. An attractive alternative is to carefully generate motion trajectories t…

Cited by 7 Source ↗Scholar ↗