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ICRA 2023

1655 papers · 0 AI summaries · 2023

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475 result(s) for “Sampling-Based Motion Planning” Page 2 of 10
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Manipulation Planning Using Wave Variables
Pitakwatchara, Phongsaen,Arunrat, Jetnipit
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Learning Agile Flight Maneuvers: Deep SE(3) Motion Planning and Control for Quadrotors
Yixiao Wang, Bingheng Wang, Shenning Zhang, Han Wei Sia, Lin Zhao
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Obstacle Identification and Ellipsoidal Decomposition for Fast Motion Planning in Unknown Dynamic Environments
Mehmetcan Kaymaz, Nazim Kemal Ure
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A Multi-Step Dynamics Modeling Framework for Autonomous Driving in Multiple Environments
Jason Gibson, Bogdan Vlahov, David D Fan, Patrick Spieler, Daniel Pastor, Ali-akbar Agha-mohammadi, Evangelos Theodorou
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Online Social Robot Navigation in Indoor, Large and Crowded Environments
Steven Alexander Silva Mendoza, NERVO XAVIER VERDEZOTO DIAS, Dennys Paillacho, Samuel Millan-Norman, Juan D. Hernández
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AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments
Vivek Kantilal Adajania, Siqi Zhou, Arun Kumar Singh, Angela P. Schoellig
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A Fast Two-Stage Approach for Multi-Goal Path Planning in a Fruit Tree
Werner Kroneman, João Valente, Frank van der Stappen
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Interaction-Aware Trajectory Planning for Autonomous Vehicles with Analytic Integration of Neural Networks into Model Predictive Control
Piyush Gupta, David Isele, Donggun Lee, Sangjae Bae
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ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation
Marios Xanthidis, Eleni Kelasidi, Kostas Alexis
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Globally Guided Trajectory Planning in Dynamic Environments
Oscar de Groot, Laura Ferranti, Dariu Gavrila, Javier Alonso-Mora
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Predicting Motion Plans for Articulating Everyday Objects
Arjun Gupta, Max Shepherd, Saurabh Gupta
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Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation
Antony Thomas, Giulio Ferro, Fulvio Mastrogiovanni, Michela Robba
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Hierarchical Policy Blending As Inference for Reactive Robot Control
Kay Hansel, Julen Urain De Jesus, Jan Peters, Georgia Chalvatzaki
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Versatile Real-Time Motion Synthesis Via Kino-Dynamic MPC with Hybrid-Systems DDP
He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
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Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation
Aalok Patwardhan, Riku Murai, Andrew J Davison
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Tree-Structured Policy Planning with Learned Behavior Models
Yuxiao Chen, Peter Karkus, Boris Ivanovic, Xinshuo Weng, Marco Pavone
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Cautious Planning with Incremental Symbolic Perception: Designing Verified Reactive Driving Maneuvers
Disha Kamale, Sofie Haesaert, Cristian Ioan Vasile
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Interaction Control of a Robotic Manipulator with the Surface of Deformable Object
Athanasios Dometios, Costas S. Tzafestas
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GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation
Shiyu Feng, Ziyi Zhou, Justin Smith, Maxwell Asselmeier, Ye Zhao, Patricio Vela
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Planning with Occluded Traffic Agents Using Bi-Level Variational Occlusion Models
Filippos Christianos, Peter Karkus, Boris Ivanovic, Stefano V. Albrecht, Marco Pavone
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A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki, Ioannis Poulakakis
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Perturbation-Based Best Arm Identification for Efficient Task Planning with Monte-Carlo Tree Search
Jin Daejong, Juhan Park, Kyungjae Lee
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Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects
Giulio Schiavi, Paula Wulkop, Giuseppe Maria Rizzi, Lionel Ott, Roland Siegwart, Jen Jen Chung
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TOFG: A Unified and Fine-Grained Environment Representation in Autonomous Driving
Zihao WEN, Yifan ZHANG, Xinhong Chen, Jianping Wang
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Obstacle-Aware Topological Planning Over Polyhedral Representation for Quadrotors
Junjie Gao, Fenghua He, Wei Zhang, Yu Yao
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Information-Theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
Daniel Larsson, Arash Asgharivaskasi, Jaein Lim, Nikolay Atanasov, Panagiotis Tsiotras
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Path Planning under Uncertainty to Localize mmWave Sources
Kai Pfeiffer, Yuze Jia, Mingsheng Yin, Akshaj Kumar Veldanda, Yaqi Hu, Amee Trivedi, Jeff Jun Zhang, Siddharth Garg, Elza Erkip, Sundeep Rangan, Ludovic Righetti
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Concentration of Measure Phenomenon and Its Implications for Sample-Based Planning Algorithms in Very-High Dimensional Configuration Spaces
Joel Esposito
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Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
Jiunn-Kai Huang, J.W Grizzle
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Trajectory Planning Issues in Cuspidal Commercial Robots
Durgesh Haribhau Salunkhe, Damien Chablat, Philippe Wenger
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Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles
Sushant Veer, Karen Leung, Ryan Cosner, Yuxiao Chen, Peter Karkus, Marco Pavone
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Self-Entanglement-Free Tethered Path Planning for Non-Particle Differential-Driven Robot
Tong Yang, Jiangpin Liu, Yue Wang, Rong Xiong
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Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models
Haolong Li, Joerg Stueckler
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Planning for Complex Non-Prehensile Manipulation among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation
Dhruv Mauria Saxena, Maxim Likhachev
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Graph Neural Networks for Multi-Robot Active Information Acquisition
Mariliza Tzes, Nikolaos Bousias, Evangelos Chatzipantazis, George J. Pappas
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Obstacle Avoidance using Raycasting and Riemannian Motion Policies at kHz Rates for MAVs
Michael Pantic, Isar Meijer, Rik Bähnemann, Nikhilesh Alatur, Olov Andersson, Cesar Cadena Lerma, Roland Siegwart, Lionel Ott
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Visibility-Aware Navigation among Movable Obstacles
Jose Muguira Iturralde, Aidan Curtis, Yilun Du, Leslie Kaelbling, Tomas Lozano-Perez
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Towards Efficient Trajectory Generation for Ground Robots Beyond 2D Environment
Jingping Wang, Long Xu, HAORAN FU, Chao Xu, Yanjun Cao, Ximin Lyu, Fei Gao
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TrafficBots: Towards World Models for Autonomous Driving Simulation and Motion Prediction
Zhejun Zhang, Alexander Liniger, Dengxin Dai, Fisher Yu, Luc Van Gool
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Real-Time Navigation for Autonomous Surface Vehicles in Ice-Covered Waters
Rodrigue de Schaetzen, Alexander Botros, Robert Gash, Kevin Murrant, Stephen L. Smith
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Hybrid Learning of Time-Series Inverse Dynamics Models for Locally Isotropic Robot Motion
Tolga-Can Çallar, Sven Böttger
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Reinforcement Learning-Based Optimal Multiple Waypoint Navigation
Christos Vlachos, Panagiotis Rousseas, Charalampos Bechlioulis, Kostas Kyriakopoulos
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Deep Occupancy-Predictive Representations for Autonomous Driving
Eivind Meyer, Lars Frederik Peiss, Matthias Althoff
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The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems
Jake Welde, Matthew Kvalheim, Vijay Kumar
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STAP: Sequencing Task-Agnostic Policies
Toki Migimatsu, Christopher George Agia, Jiajun Wu, Jeannette Bohg
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Learning to View: Decision Transformers for Active Object Detection
Wenhao Ding, Majcherczyk Nathalie, Mohit Deshpande, Xuewei Qi, Ding Zhao, Rajasimman Madhivanan, Arnab Sen
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Soft Fluidic Actuator for Locomotion in Multi-Phase Environments
Roza Gkliva, Maarja Kruusmaa
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Adaptive Approximation of Dynamics Gradients Via Interpolation to Speed up Trajectory Optimisation
David Mackenzie Charles Russell, Rafael Papallas, Mehmet R Dogar
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Demonstration-Guided Optimal Control for Long-Term Non-Prehensile Planar Manipulation
Teng Xue, Hakan Girgin, Teguh Santoso Lembono, Sylvain Calinon
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Curvature-Aware Model Predictive Contouring Control
Lorenzo Lyons, Laura Ferranti
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