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ICRA 2023

1655 papers · 0 AI summaries · 2023

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448 result(s) for “Surgical Robotics: Planning” Page 4 of 9
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Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron Ames
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CPG-Based Motion Planning of Hybrid Underwater Hexapod Robot for Wall Climbing and Transition
Ma, Feiyu,Yan, Weisheng,chen, lepeng,Cui, Rongxin
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Accelerating Multi-Agent Planning Using Graph Transformers with Bounded Suboptimality
Chenning Yu, Qingbiao Li, Sicun Gao, Amanda Prorok
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Real-Time Fast Marching Tree for Mobile Robot Motion Planning in Dynamic Environments
Jefferson Silveira, Kleber Cabral, Sidney Givigi, Joshua A. Marshall
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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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Contextual Multi-Objective Path Planning
Anna Nickelson, Kagan Tumer, William Smart
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Optimal Parameterized Joints Selection to Improve Motion Planning Performance of Redundant Manipulators
Bin Xie, Qingfeng Wang, Di Wu
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Hierarchical Motion Planning for Autonomous Vehicles in Unstructured Dynamic Environments
Yao Qi, Binbing He, Yang Tai, Rendong Wang, Le Wang, Youchun Xu
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Distributionally Safe Path Planning: Wasserstein Safe RRT
Paul Lathrop, Beth Boardman, Sonia Martinez
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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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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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STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning
Hongkai Ye, Chao Xu, Fei Gao
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DQN-Based On-Line Path Planning Method for Automatic Navigation of Miniature Robots
Jialin JIANG, Lidong Yang, Li Zhang
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Conflict-Constrained Multi-Agent Reinforcement Learning Method for Parking Trajectory Planning
Siyuan Chen, Meiling Wang, Yi Yang, Wenjie Song
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Collision-Free Coverage Path Planning for the Variable-Speed Curvature-Constrained Robot
Lin Li, Dianxi Shi, Songchang Jin, Yixuan Sun, Xing Zhou, Shaowu Yang, Hengzhu Liu
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A MySQL Database for the Systematic Configuration Selection of Redundant Manipulators when Path Planning in Confined Spaces
Kat Styles Wood, Thomas. B Scott, Antonia Tzemanaki
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Open-Vocabulary, Queryable Scene Representations for Real World Planning
Boyuan Chen, Fei Xia, Brian Ichter, Kanishka Rao, Keerthana Gopalakrishnan, Michael S. Ryoo, Austin Stone, Daniel Kappler
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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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Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces
Xinghao Zhu, Wenzhao Lian, BODI Yuan, Daniel Freeman, Masayoshi Tomizuka
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Sequential Stochastic Multi-Task Assignment for Multi-Robot Deployment Planning
Colin Mitchell, Graeme Best, Geoffrey Hollinger
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RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity
Warley Francisco Rocha Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Kazuya Yoshida
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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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Operating with Inaccurate Models by Integrating Control-Level Discrepancy Information into Planning
Ellis Ratner, Claire Tomlin, Maxim Likhachev
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Planning Assembly Sequence with Graph Transformer
Lin Ma, Jiangtao Gong, Hao Xu, Hao CHEN, Hao Zhao, Wenbing Huang, Guyue Zhou
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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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SoRoSim: A MATLAB Toolbox for Hybrid Rigid-Soft Robots Based on the Geometric Variable-Strain Approach
Anup Teejo Mathew, Ikhlas Ben Hmida, Costanza Armanini, Frédéric Boyer, Federico Renda
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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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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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Obstacle Identification and Ellipsoidal Decomposition for Fast Motion Planning in Unknown Dynamic Environments
Mehmetcan Kaymaz, Nazim Kemal Ure
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How AI and Robotics Can Build Furniture: A Case Study from the 2021 AI-Robot Assembly Challenge
SeongSeop Yun, Myoung-Su Choi, Min-Young Cho, Keunhwan Kim, Dong-Hyuk Lee, Se-Woong Jun, Ji-Hun Bae, Dongjun Shin
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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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Navigating Soft Robots through Wireless Heating
Yiwen Song, Mason Zadan, Kushaan Misra, Zefang Li, Jingxian Wang, Carmel Majidi, Swarun Kumar
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Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
Milad Shafiee, Guillaume Bellegarda, Auke Ijspeert
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Lightweight Monocular Depth Estimation Via Token-Sharing Transformer
Dong-Jae Lee, Jae Young Lee, Hyounguk Shon, Eojindl Yi, Yeong-Hun Park, Sung-Sik Cho, Junmo Kim
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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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