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ICRA 2024

2337 papers · 0 AI summaries · 2024

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652 result(s) for “Belief Space Planning” Page 2 of 14
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Scalable Multi-Robot Motion Planning for Congested Environments with Topological Guidance
Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy Amato
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CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning
Javier Muñoz Mendi, Peter Lehner, Luis Moreno, Alin Albu-Schäffer, Maximo A. Roa
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F3DMP: Foresighted 3D Motion Planning of Mobile Robots in Wild Environments
Andong Yang, Wei Li, Yu Hu
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NNgTL: Neural Network Guided Optimal Temporal Logic Task Planning for Mobile Robots
Ruijia Liu, Shaoyuan Li, Xiang Yin
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Tight Motion Planning by Riemannian Optimization for Sliding and Rolling with Finite Number of Contact Points
Dror Livnat, Michael M. Bilevich, Dan Halperin
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Learning-Aided Control of Robotic Tether-Net with Maneuverable Nodes to Capture Large Space Debris
Achira Boonrath, Feng Liu, Eleonora Botta, Souma Chowdhury
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QuAD: Query-Based Interpretable Neural Motion Planning for Autonomous Driving
Sourav Biswas, Sergio Casas Romero, Quin Sykora, Ben Agro, Abbas Sadat, Raquel Urtasun
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Neural Rearrangement Planning for Object Retrieval from Confined Spaces Perceivable by Robot�s In-Hand RGB-D Sensor
Hanwen Ren, Ahmed H. Qureshi
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Db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning
Akmaral Moldagalieva, Joaquim Ortiz-Haro, Marc Toussaint, Wolfgang Hoenig
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Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration
Thibault Noël, Antoine Lehuger Lehuger, Eric Marchand, Francois Chaumette
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Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models
Marco Faroni, Dmitry Berenson
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A Robot Web for Distributed Many-Device Localisation
Riku Murai, Joseph Ortiz, Sajad Saeedi, Paul H J Kelly, Andrew J Davison
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Improved M4M: Faster and Richer Planning for Manipulation among Movable Objects in Cluttered 3D Workspaces
Dhruv Mauria Saxena, Maxim Likhachev
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Constant-Time Motion Planning with Anytime Refinement for Manipulation
Itamar Mishani, Hayden Feddock, Maxim Likhachev
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Fast Force-Closure Grasp Synthesis with Learning-Based Sampling
Wei Xu, Weichao Guo, Xu Shi, Xinjun Sheng, Xiangyang Zhu
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Risk-Averse Trajectory Optimization Via Sample Average Approximation
Thomas Lew, Riccardo Bonalli, Marco Pavone
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RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments
Apan Dastider, Hao Fang, Lin Mingjie
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Bridging Zero-Shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skill
Wenzhe Cai, Siyuan Huang, Guangran Cheng, Yuxing Long, Peng Gao, Changyin Sun, Hao Dong
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Efficient Polynomial Sum-Of-Squares Programming for Planar Robotic Arms
Daniel Keren, Amit Shahar, Roi Poranne
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Floating-Base Manipulation on Zero-Perturbation Manifolds
Brian Bittner, Jason Reid, Kevin Wolfe
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Fast Kinodynamic Planning on the Constraint Manifold with Deep Neural Networks
Piotr Kicki, Puze Liu, Davide Tateo, Haitham Bou Ammar, Krzysztof, Tadeusz Walas, Piotr Skrzypczynski, Jan Peters
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Task-Oriented Active Learning of Model Preconditions for Inaccurate Dynamics Models
Alex LaGrassa, Moonyoung Lee, Oliver Kroemer
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Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces
Servet Bora Bayraktar, Andreas Orthey, Zachary Kingston, Marc Toussaint, Lydia Kavraki
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Reinforcement Learning with Energy-Exchange Dynamics for Spring-Loaded Biped Robot Walking
Cheng-Yu Kuo, Hirofumi Shin, Takamitsu Matsubara
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Online 3D Edge Reconstruction of Wiry Structures from Monocular Image Sequences
Hyelim Choi, Minji Lee, Jiseock Kang, Dongjun Lee
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Disentangled Neural Relational Inference for Interpretable Motion Prediction
Victoria Magdalena Dax, Jiachen Li, Enna Sachdeva, Nakul Agarwal, Mykel Kochenderfer
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Neural Implicit Swept Volume Models for Fast Collision Detection
Dominik Joho, Jonas Schwinn, Kirill Safronov
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Enhancing Dexterity in Robotic Manipulation Via Hierarchical Contact Exploration
Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, Matthew T. Mason
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LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation
Shuo Cheng, Danfei Xu
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Robust and Remote Center of Cyclic Motion Control for Redundant Robots with Partially Unknown Structure
Long Jin, Kun Liu, Mei Liu
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RoCo: Dialectic Multi-Robot Collaboration with Large Language Models
Mandi Zhao, Shreeya Jain, Shuran Song
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Topological Exploration Using Segmented Map with Keyframe Contribution in Subterranean Environments
Boseong Kim, Hyunki Seong, David Hyunchul Shim
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Continuous Occupancy Mapping in Dynamic Environments Using Particles
Gang Chen, Wei Dong, Peng Peng, Javier Alonso-Mora, Xiangyang Zhu
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Hybrid Trajectory Optimization for Autonomous Terrain Traversal of Articulated Tracked Robots
Zhengzhe Xu, Yanbo Chen, Zhuozhu Jian, Junbo Tan, xueqian WANG, bin LIANG
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PathRL: An End-To-End Path Generation Method for Collision Avoidance Via Deep Reinforcement Learning
Wenhao Yu, Jie Peng, Quecheng Qiu, Hanyu Wang, Lu Zhang, Jianmin Ji
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Underwater Volumetric Mapping Using Imaging Sonar and Free-Space Modeling Approach
António José Oliveira, Bruno Ferreira, Nuno Cruz
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Helical Control in Latent Space: Enhancing Robotic Craniotomy Precision in Uncertain Environments
Yuanyuan Jia, Jessica Qu, Tadahiro Taniguchi
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A non-cubic space-filling modular robot
Tyler Hummer, Sam Kriegman
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DeformNet: Latent Space Modeling and Dynamics Prediction for Deformable Object Manipulation
Chenchang Li, Zihao Ai, Tong Wu, Xiaosa Li, Wenbo Ding, Huazhe Xu
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Computation-Aware Multi-Object Search in 3D Space Using Submodular Tree
Yan-Shuo Li, Kuo-Shih Tseng
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System Identification of Space Manipulator Systems and Its Implications on Robust Control Performance
Georgios Rekleitis, Evangelos Papadopoulos
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Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness
Ezra Tal, Gilhyun Ryou, Sertac Karaman
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Eliminating Cross-Modal Conflicts in BEV Space for LiDAR-Camera 3D Object Detection
Jiahui Fu, Chen Gao, Zitian Wang, Lirong Yang, Xiaofei Wang, Beipeng Mu, Si Liu
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Task-Space Control of a Powered Ankle Prosthesis
David Kelly, Ryan Posh, Patrick M. Wensing
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VINSat: Solving the Lost-in-Space Problem with Visual-Inertial Navigation
Kyle McCleary, Swaminathan Gurumurthy, Paulo R.M. Fisch, Saral Tayal, Zachary Manchester, Brandon Lucia
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Unknown Object Retrieval in Confined Space through Reinforcement Learning with Tactile Exploration
Xinyuan Zhao, Wenyu Liang, Xiaoshi Zhang, Chee Meng Chew, Yan Wu
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BEVUDA: Multi-geometric Space Alignments for Domain Adaptive BEV 3D Object Detection
Jiaming Liu, rongyu zhang, Xiaoqi Li, Xiaowei Chi, Zehui Chen, Ming Lu, Yandong Guo, Shanghang Zhang
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Sampling-Based Reactive Synthesis for Nondeterministic Hybrid Systems
Qi Heng Ho, Zachary Sunberg, Morteza Lahijanian
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MORALS: Analysis of High-Dimensional Robot Controllers Via Topological Tools in a Latent Space
Ewerton Vieira, Aravind Sivaramakrishnan, Sumanth Tangirala, Edgar Granados, Konstantin Mischaikow, Kostas E. Bekris
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A Dual Closed-Loop Control Strategy for Human-Following Robots Respecting Social Space
Jianwei Peng, Zhelin Liao, Zefan Su, Hanchen Yao, Yadan Zeng, Houde Dai
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