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ICRA 2023

1655 papers · 0 AI summaries · 2023

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505 result(s) for “Constrained Motion Planning” Page 1 of 11
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Chance-Constrained Motion Planning with Event-Triggered Estimation
Anne Theurkauf, Qi Heng Ho, Roland Ilyes, Nisar Ahmed, Morteza Lahijanian
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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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Conflict-Constrained Multi-Agent Reinforcement Learning Method for Parking Trajectory Planning
Siyuan Chen, Meiling Wang, Yi Yang, Wenjie Song
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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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Constraint Manifolds for Robotic Inference and Planning
Yetong Zhang, Fan Jiang, Gerry Chen, Varun Agrawal, Adam Rutkowski, Frank Dellaert
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Handling Constrained Optimization in Factor Graphs for Autonomous Navigation
Barbara Bazzana, Tiziano Guadagnino, Giorgio Grisetti
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Geometrically Constrained Trajectory Optimization for Multicopters
Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao
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Predicting Motion Plans for Articulating Everyday Objects
Arjun Gupta, Max Shepherd, Saurabh Gupta
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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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Chance-Constrained Iterative Linear-Quadratic Stochastic Games
Hai Zhong, Yutaka Shimizu, Jianyu Chen
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Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments
Khaled Alaaeldin Abdelfattah Mustafa, Oscar de Groot, Xinwei Wang, Jens Kober, Javier Alonso-Mora
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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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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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Fast, Reliable Constrained Manipulation Using a VSA Driven Planar Robot
Andrew Bernhard, Joseph Schimmels
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Autotuning Symbolic Optimization Fabrics for Trajectory Generation
Max Spahn, Javier Alonso-Mora
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A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization
Lin, Jui-Te,Girerd, Cedric,Yan, Jiayao,Hwang, John T.,Morimoto, Tania K.
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Real-Time Dense 3D Mapping of Underwater Environments
Weihan Wang, Bharat Joshi, Nathaniel Burgdorfer, KONSTANTINOS BATSOS, Alberto Quattrini Li, Philippos Mordohai, Ioannis Rekleitis
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Minimally Constrained Multi-Robot Coordination with Line-Of-Sight Connectivity Maintenance
Yupeng Yang, Yiwei Lyu, Wenhao Luo
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STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning
Hongkai Ye, Chao Xu, Fei Gao
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Trajectory Planning for the Bidirectional Quadrotor As a Differentially Flat Hybrid System
Katherine Mao, Jake Welde, M. Ani Hsieh, Vijay Kumar
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Adaptive Constrained Kinematic Control Using Partial or Complete Task-Space Measurements
Murilo Marques Marinho, Bruno Vilhena Adorno
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Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint
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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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Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals Using Simplified Belief Guides
Qi Heng Ho, Zachary Sunberg, Morteza Lahijanian
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Sample-Driven Connectivity Learning for Motion Planning
Sihui Li, Neil Dantam
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Optimal Grasps and Placements for Task and Motion Planning in Clutter
Carlos Quintero-Peña, Zachary Kingston, Tianyang Pan, Rahul Shome, Anastasios Kyrillidis, Lydia Kavraki
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Stochastic Robustness Interval for Motion Planning with Signal Temporal Logic
Roland Ilyes, Qi Heng Ho, Morteza Lahijanian
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A Reachability Tree-Based Algorithm for Robot Task and Motion Planning
Kanghyun Kim, Daehyung Park, Min Jun Kim
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Boundary Conditions in Geodesic Motion Planning for Manipulators
Mario Laux, Andreas Zell
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Parameter Optimization for Manipulator Motion Planning Using a Novel Benchmark Set
Carl Gaebert, Sascha Kaden, Benjamin Fischer, Ulrike Thomas
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A Hierarchical Decoupling Approach for Fast Temporal Logic Motion Planning
Ziyang Chen, Zhangli Zhou, Shaochen Wang, Zhen Kan
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Motion Planning for a Climbing Robot with Stochastic Grasps
Stephanie Newdick, Nitin Ongole, Tony G. Chen, Edward Schmerling, Mark Cutkosky, Marco Pavone
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Learning to Predict Action Feasibility for Task and Motion Planning in 3D Environments
Smail Ait Bouhsain, Rachid Alami, Thierry Simeon
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Optimal Multi-Robot Coverage Path Planning for Agricultural Fields Using Motion Dynamics
Jahid Chowdhury Choton, Pavithra Prabhakar
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Online Whole-Body Motion Planning for Quadrotor Using Multi-Resolution Search
Yunfan Ren, Siqi Liang, Fangcheng Zhu, Guozheng Lu, Fu Zhang
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Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Jun Yamada, Chia-Man Hung, Jack Collins, Ioannis Havoutis, Ingmar Posner
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A Reachability-Based Spatio-Temporal Sampling Strategy for Kinodynamic Motion Planning
Yongxing Tang, Zhanxia Zhu, Hongwen Zhang
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Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
Wyatt Ubellacker, Aaron Ames
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Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles Using Density-Based Reachability
Laura Lützow, Yue Meng, Andres Chavez Armijos, Chuchu Fan
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Shunted Collision Avoidance for Multi-UAV Motion Planning with Posture Constraints
Gang Xu, Deye Zhu, Junjie Cao, Yong Liu, Jian Yang
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Policy Guided Lazy Search with Feedback for Task and Motion Planning
Mohamed Khodeir, Atharv Sonwane, Ruthrash Hari, Florian Shkurti
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Bidirectional Sampling-Based Motion Planning without Two-Point Boundary Value Solution
Sharan Nayak, Michael W. Otte
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Interactive Multi-Modal Motion Planning with Branch Model Predictive Control
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron Ames
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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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Heterogeneous Coverage and Multi-Resource Allocation in Supply-Constrained Teams
Mela Coffey, Alyssa Pierson
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A Continuous Off-Policy Reinforcement Learning Scheme for Optimal Motion Planning in Simply-Connected Workspaces
Panagiotis Rousseas, Charalampos Bechlioulis, Kostas Kyriakopoulos
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S∗: On Safe and Time Efficient Robot Motion Planning
Riddhiman Laha, Wenxi Wu, Ruiai Sun, Nico Mansfeld, Luis Felipe Cruz Figueredo, Sami Haddadin
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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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Multi-Contact Task and Motion Planning Guided by Video Demonstration
Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimir Petrik
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BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
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