7 accepted papers
Solving a Task-and-Motion Planning (TAMP) problem can be represented as a sequential (meta-) decision process, where early decisions concern the skeleton (sequence of logic actions) and later decisions concern what to compute for such skeletons (e.g., action parameters, bounds, RRT paths, or full op…
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic constraints makes the motion planning problem significantly harder, as it requires solving two-value boundary problems (com…
The path planning problems arising in manipulation planning and in task and motion planning settings are typically repetitive: the same manipulator moves in a space that only changes slightly. Despite this potential for reuse of information, few planners fully exploit the available information. To b…
The introduction of robotics and machine learning to architectural construction is leading to more efficient construction practices. So far, robotic construction has largely been implemented on standardized materials, conducting simple, predictable, and repetitive tasks. We present a novel mobile ro
We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT*(ST-RRT*), is a probabilistically complete, bidirectional motion planning algorithm, which is asymptotically optimal with respect to the s…
Efficient sampling from constraint manifolds, and thereby generating a diverse set of solutions for feasibility problems, is a fundamental challenge. We consider the case where a problem is factored, that is, the underlying nonlinear program is decomposed into differentiable equality and inequality…
Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design iteration cycles for designers and engineers. However, gene…