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ICRA 2023

1655 papers · 0 AI summaries · 2023

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505 result(s) for “Constrained Motion Planning” Page 3 of 11
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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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Goal-Image Conditioned Dynamic Cable Manipulation through Bayesian Inference and Multi-Objective Black-Box Optimization
Kuniyuki Takahashi, Tadahiro Taniguchi
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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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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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Meta Reinforcement Learning for Optimal Design of Legged Robots
Alvaro Belmonte-Baeza, joonho lee, Giorgio Valsecchi, Marco Hutter
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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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QuadMag: A Mobile-Coil System with Enhanced Magnetic Actuation Efficiency and Dexterity
Lidong Yang, Moqiu Zhang, Zhengxin Yang, Haojin Yang, Li Zhang
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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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Modeling and Inertial Parameter Estimation of Cart-Like Nonholonomic Systems Using a Mobile Manipulator
Sergio Aguilera, Muhammad Ali Murtaza, Jonathan Rogers, Seth Hutchinson
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A Sensitivity-Aware Motion Planner (SAMP) to Generate Intrinsically-Robust Trajectories
Simon Wasiela, Paolo Robuffo Giordano, Juan Cortes, Thierry Simeon
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Differential Dynamic Programming Based Hybrid Manipulation Strategy for Dynamic Grasping
Cheng Zhou, Yanbo Long, Lei Shi, Longfei Zhao, Yu Zheng
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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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Spatial-Temporal-Aware Safe Multi-Agent Reinforcement Learning of Connected Autonomous Vehicles in Challenging Scenarios
Zhili Zhang, Songyang Han, Jiangwei Wang, Fei Miao
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Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in Ex Vivo Porcine Eyes
Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Ioan Iulian Iordachita, Marin Kobilarov
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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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How Many Events Do You Need? Event-Based Visual Place Recognition Using Sparse but Varying Pixels
Tobias Fischer, Michael J Milford
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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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Efficient Learning of High Level Plans from Play
NÃoria Armengol Urpí, Marco Bagatella, Otmar Hilliges, Georg Martius, Stelian Coros
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An Architecture for Reactive Mobile Manipulation On-The-Move
Ben Burgess-Limerick, Christopher Lehnert, Jurgen Leitner, Peter Corke
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Obscuring Objectives with Pareto-Optimal Privacy-Aware Trajectories in Multi-Robot Coverage
Brennan Brodt, Alyssa Pierson
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An Investigation on the Effect of Actuation Pattern on the Power Consumption of Legged Robots for Extraterrestrial Exploration
Yuan Hu, Weizhong Guo, Rongfu Lin
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Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks
Roshan Dhakal, Gregory Stein, Md Ridwan Hossain Talukder
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PredRecon: A Prediction-Boosted Planning Framework for Fast and High-Quality Autonomous Aerial Reconstruction
Chen Feng, Haojia Li, Fei Gao, Boyu Zhou, Shaojie Shen
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It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying
Eley Ng, Ziang Liu, Monroe Kennedy
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Discovering Multiple Algorithm Configurations
Leonid Keselman, martial hebert
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Evaluation of Legged Robot Landing Capability under Aggressive Linear and Angular Velocities
Keran Ye, Konstantinos Karydis
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Semantics-aware Exploration and Inspection Path Planning
Mihir Rahul Dharmadhikari, Kostas Alexis
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Data-Driven Iterative Optimal Control for Switched Dynamical Systems
Yuqing Chen, Yangzhi Li, David Braun
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Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier
Ruiqi Ni, Zherong Pan, Xifeng Gao
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A Framework to Co-Optimize Robot Exploration and Task Planning in Unknown Environments
Yuanfan Xu, Zhaoliang Zhang, Yu Jincheng, Yuan Shen, Yu Wang
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Efficient Speed Planning for Autonomous Driving in Dynamic Environment with Interaction Point Model
Yingbing Chen, Ren XIN, Jie CHENG, Qingwen Zhang, Xiaodong Mei, Ming Liu, Lujia Wang
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Risk-Aware Spatio-Temporal Logic Planning in Gaussian Belief Spaces
Matti Vahs, Christian Pek, Jana Tumova
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Fisher Information Based Active Planning for Aerial Photogrammetry
JAEYOUNG LIM, Nicholas Lawrance, Florian Achermann, Thomas Stastny, Rik Bähnemann, Roland Siegwart
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Decentralized Deadlock-Free Trajectory Planning for Quadrotor Swarm in Obstacle-Rich Environments
Jungwon Park, Inkyu Jang, H. Jin Kim
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Real-Time Unified Trajectory Planning and Optimal Control for Urban Autonomous Driving under Static and Dynamic Obstacle Constraints
Rowan Dempster, Mohammad Alsharman, Derek Rayside, William Melek
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A Causal Decoupling Approach to Efficient Planning for Logistics Problems with Stateful Stochastic Demand
Diptanil Chaudhuri, Dylan Shell
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Closing the Planning-Learning Loop with Application to Autonomous Driving
Panpan Cai, David Hsu
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A Benchmark for Multi-Robot Planning in Realistic, Complex and Cluttered Environments
Simon Schaefer, Luigi Palmieri, Lukas Heuer, Rüdiger Dillmann, Sven Koenig, Alexander Kleiner
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A Congestion-Aware Path Planning Method Considering Crowd Spatial-Temporal Anomalies for Long-Term Autonomy of Mobile Robots
Zijian Ge, Jingjing Jiang, Matthew Coombes
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Efficient View Path Planning for Autonomous Implicit Reconstruction
Jing Zeng, Yanxu Li, Yunlong Ran, Shuo Li, Shibo He, Fei Gao, Lincheng Li, Jiming Chen, Qi Ye
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