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ICRA 2023

1655 papers · 0 AI summaries · 2023

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266 result(s) for “Planning” Page 3 of 6
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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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Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
Chengyang Peng, Octavian Donca, Guillermo Castillo, Ayonga Hereid
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Robust Robot Planning for Human-Robot Collaboration
Yang You, Vincent Thomas, Francis Colas, Rachid Alami, Olivier Buffet
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Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems
Craig Knuth, Glen Chou, Jamie Reese, Joseph Moore
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Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
Wyatt Ubellacker, Aaron Ames
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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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Epistemic Prediction and Planning with Implicit Coordination for Multi-Robot Teams in Communication Restricted Environments
Lauren Bramblett, Shijie Gao, Nicola Bezzo
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Online Coverage Path Planning Scheme for a Size-Variable Robot
Viraj Jagathpriya Muthugala Muthugala Arachchige, Bhagya Prasangi Samarakoon Samarakoon Mudiyanselage, Mohan Rajesh Elara
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Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion
Dasharadhan Mahalingam, Nilanjan Chakraborty
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Sampling-Based Path Planning under Temporal Logic Constraints with Real-Time Adaptation
Yizhou Chen, Ruoyu Wang, Xinyi Wang, Ben M. Chen
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Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions
Zach Williams, Jushan Chen, Negar Mehr
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Safe and Distributed Multi-Agent Motion Planning under Minimum Speed Constraints
Inkyu Jang, Jungwon Park, H. Jin Kim
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Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
Lucas Michael Streichenberg, Elia Trevisan, Jen Jen Chung, Roland Siegwart, Javier Alonso-Mora
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Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning
Yiang Lu, ruofeng wei, Bin LI, Wei Chen, Jianshu Zhou, Qi Dou, Dong Sun, Yunhui Liu
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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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Self-Entanglement-Free Tethered Path Planning for Non-Particle Differential-Driven Robot
Tong Yang, Jiangpin Liu, Yue Wang, Rong Xiong
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Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization
Ramkumar Natarajan, Garrison Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset
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GuILD: Guided Incremental Local Densification for Accelerated Sampling-Based Motion Planning
Rosario Scalise, Aditya Mandalika, Brian Hou, Sanjiban Choudhury, Siddhartha Srinivasa
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Efficient Optimal Planning in Non-FIFO Time-Dependent Flow Fields
James Ju Heon Lee, Chanyeol Yoo, Stuart David Anstee, Robert Fitch
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Speeding up Assembly Sequence Planning through Learning Removability Probabilities
Alexander Cebulla, Tamim Asfour, Torsten Kroeger
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Deep Reinforcement Learning Based Personalized Locomotion Planning for Lower-Limb Exoskeletons
Javad K. Mehr, Edward Guo, Mojtaba Akbari, Vivian K. Mushahwar, Mahdi Tavakoli
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Efficient Planning of Multi-Robot Collective Transport Using Graph Reinforcement Learning with Higher Order Topological Abstraction
Steve Paul, Wenyuan Li, Brian Smyth, Yuzhou Chen, Yulia Gel, Souma Chowdhury
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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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Extracting Generalizable Skills from a Single Plan Execution Using Abstraction-Critical State Detection
Khen Elimelech, Lydia Kavraki, Vardi Moshe
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A Coarse-To-Fine Framework for Dual-Arm Manipulation of Deformable Linear Objects with Whole-Body Obstacle Avoidance
Mingrui Yu, Kangchen Lv, Changhao Wang, Masayoshi Tomizuka, Xiang LI
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Distributionally Robust RRT with Risk Allocation
Kajsa Ekenberg, Venkatraman Renganathan, Bjorn Olofsson
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HALO: Hazard-Aware Landing Optimization for Autonomous Systems
Christopher Hayner, Samuel Buckner, Daniel Broyles, Evelyn Madewell, Karen Leung, Behcet Acikmese
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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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Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
Kejia Ren, Podshara Chanrungmaneekul, Lydia Kavraki, Kaiyu Hang
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Geometrically Constrained Trajectory Optimization for Multicopters
Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao
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Covariance Steering for Uncertain Contact-rich Systems
Yuki Shirai, Devesh Jha, Arvind Raghunathan
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Multi-Object Navigation in Real Environments Using Hybrid Policies
Assem Sadek, Guillaume Bono, Boris Chidlovskii, Atilla Baskurt, Christian Wolf
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Experiments in Underwater Feature Tracking with Performance Guarantees Using a Small AUV
Benjamin Biggs, Hans He, James McMahon, Daniel Stilwell
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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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Online Tool Selection with Learned Grasp Prediction Models
Rohanimanesh Khashayar, Jacob Metzger, William Richards, Aviv Tamar
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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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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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Decision Diagrams As Plans: Answering Observation-Grounded Queries
Dylan Shell, Jason O'Kane
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Two-Stage Grasping: A New Bin Picking Framework for Small Objects
Hanwen Cao, Jianshu Zhou, Rui Cao, Yichuan Li, Qi Dou, Yunhui Liu
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Reinforcement Learning-Based Optimal Multiple Waypoint Navigation
Christos Vlachos, Panagiotis Rousseas, Charalampos Bechlioulis, Kostas Kyriakopoulos
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Safe Real-World Autonomous Driving by Learning to Predict and Plan with a Mixture of Experts
Stefano Pini, Christian Perone, Aayush Ahuja, Ana Sofia Rufino Ferreira, Moritz Niendorf, Sergey Zagoruyko
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Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field
Adam Uchytil, Jiri Zemanek
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Learning Augmented, Multi-Robot Long-Horizon Navigation in Partially Mapped Environments
Abhish Khanal, Gregory Stein
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Predicting Motion Plans for Articulating Everyday Objects
Arjun Gupta, Max Shepherd, Saurabh Gupta
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Interpretable and Flexible Target-Conditioned Neural Planners for Autonomous Vehicles
Haolan Liu, Jishen Zhao, Liangjun Zhang
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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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Contact Based Turning Gait of a Novel Legged-Wheeled Quadruped
Alper Yeldan, Abhimanyu Arora, Gim Song Soh
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Congestion Prediction for Large Fleets of Mobile Robots
Ge Yu, Michael Wolf
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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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