Christopher M. Dellin — accepted AI-conference papers

2016

Pareto-optimal search over configuration space beliefs for anytime motion planning

Shushman Choudhury, Christopher M. Dellin, Siddhartha S. Srinivasa

IROS 2016poster

We present POMP (Pareto Optimal Motion Planner), an anytime algorithm for geometric path planning on roadmaps. For robots with several degrees of freedom, collision checks are computationally expensive and often dominate planning time. Our goal is to minimize the number of collision checks for obtai…

Cited by 37 Source ↗Scholar ↗

2015

A general technique for fast comprehensive multi-root planning on graphs by coloring vertices and deferring edges

Christopher M. Dellin, Siddhartha S. Srinivasa

ICRA 2015poster

We formulate and study the comprehensive multi-root (CMR) planning problem, in which feasible paths are desired between multiple regions. We propose two primary contributions which allow us to extend state-of-the-art sampling-based planners. First, we propose the notion of vertex coloring as a compa…

Cited by 2 Source ↗Scholar ↗