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ICRA 2024

2337 papers · 0 AI summaries · 2024

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741 result(s) for “Nonholonomic Motion Planning” Page 2 of 15
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Motion Planning and Inertia Based Control for Impact Aware Manipulation
Harshit Khurana, Aude Billard
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RUMP: Robust Underwater Motion Planning in Dynamic Environments of Fast Moving Obstacles
Herman Biørn Amundsen, Torben Falleth Olsen, Marios Xanthidis, Martin Føre, Eleni Kelasidi
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Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models
Marco Faroni, Dmitry Berenson
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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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R-LGP: A Reachability-Guided Logic-Geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Xaver Merkt, Ioannis Havoutis
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Constant-Time Motion Planning with Anytime Refinement for Manipulation
Itamar Mishani, Hayden Feddock, Maxim Likhachev
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Safe and Individualized Motion Planning for Upper-Limb Exoskeleton Robots Using Human Demonstration and Interactive Learning
Yu Chen, Gong Chen, jing ye, Xiangjun Qiu, Xiang LI
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Preprocessing-Based Kinodynamic Motion Planning Framework for Intercepting Projectiles Using a Robot Manipulator
Ramkumar Natarajan, Hanlan Yang, Qintong Xie, Yash Oza, Manash Pratim Das, Fahad Islam, Muhammad Suhail Saleem, Howie Choset, Maxim Likhachev
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Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller
Mingxin Yu, Chenning Yu, Mohammad Mahdi Naddaf Shargh, devesh upadhyay, Sicun Gao, Chuchu Fan
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Motion planning for 4WS vehicle with autonomous selection of steering modes via an MIQP-MPC controller
Ngoc Thinh Nguyen, Pranav Tej Gangavarapu, Nicolas Mandel, Ralf Bruder, Floris Ernst
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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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Exploiting Transformer in Sparse Reward Reinforcement Learning for Interpretable Temporal Logic Motion Planning
Hao Zhang, Hao Wang, Zhen Kan
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Effort Level Search in Infinite Completion Trees with Application to Task-And-Motion Planning
Marc Toussaint, Joaquim Ortiz-Haro, Valentin Hartmann, Erez Karpas, Wolfgang Hoenig
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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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Trust-Aware Motion Planning for Human-Robot Collaboration under Distribution Temporal Logic Specifications
Pian Yu, Shuyang Dong, Shili Sheng, Lu Feng, kwiatkowska_floc18_4YQkwtC9 Kwiatkowska
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Constrained Bimanual Planning with Analytic Inverse Kinematics
Thomas Cohn, Seiji Shaw, Max Simchowitz, Russ Tedrake
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ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics
Luca Paparusso, Shreyas Kousik, Edward Schmerling, Francesco Braghin, Marco Pavone
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CoPAL: Corrective Planning of Robot Actions with Large Language Models
Frank Joublin, Antonello Ceravola, Pavel Smirnov, Felix Ocker, Joerg Deigmoeller, Anna Belardinelli, Chao Wang, Stephan Hasler, Daniel Tanneberg, Michael Gienger
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Motions in Microseconds Via Vectorized Sampling-Based Planning
Wil Thomason, Zachary Kingston, Lydia Kavraki
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Interactive Joint Planning for Autonomous Vehicles
Yuxiao Chen, Sushant Veer, Peter Karkus, Marco Pavone
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Planning Optimal Trajectories for Mobile Manipulators under End-Effector Trajectory Continuity Constraint
Quang-Nam Nguyen, Quang-Cuong Pham
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MARC: Multipolicy and Risk-Aware Contingency Planning for Autonomous Driving
Tong Li, Lu Zhang, Sikang Liu, Shaojie Shen
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Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities
Yifei Shao, Yuwei Wu, Laura Jarin-Lipschitz, Pratik Chaudhari, Vijay Kumar
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Efficient and Differentiable Joint Conditional Prediction and Cost Evaluation for Tree-Structured Planning in Autonomous Driving
Zhiyu Huang, Peter Karkus, Boris Ivanovic, Yuxiao Chen, Marco Pavone, Chen Lv
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GG-LLM: Geometrically Grounding Large Language Models for Zero-Shot Human Activity Forecasting in Human-Aware Task Planning
Moritz A. Graule, Volkan Isler
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Traffic Flow Learning Enhanced Large-Scale Multi-Robot Cooperative Path Planning Under Uncertainties
Xingyao Han, Siyuan Chen, Xinye Xiong, Qiming Liu, Shunbo Zhou, Heng Zhang, Zhe Liu
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Global Planning for Contact-Rich Manipulation Via Local Smoothing of Quasi-Dynamic Contact Models
Tao Pang, Hyung Ju Terry Suh, Lujie Yang, Russ Tedrake
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Solving Sequential Manipulation Puzzles by Finding Easier Subproblems
Svetlana Levit, Joaquim Ortiz-Haro, Marc Toussaint
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Trajectory Optimization Strategy That Considers Body Tip-Over Stability, Limb Dynamics, and Motion Continuity in Legged Robots
Kuan-Lun Lu, I-Chia Chang, Wei-Shun Yu, Pei-Chun Lin
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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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Generating Environment-Based Explanations of Motion Planner Failure: Evolutionary and Joint-Optimization Algorithms
Qishuai Liu, Martim Brandao
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Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots
Teng Guo, Jingjin Yu
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Learning Robot Motion in a Cluttered Environment Using Unreliable Human Skeleton Data Collected by a Single RGB Camera
Ryota Takamido, Jun Ota
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Characterizing Physical Adversarial Attacks on Robot Motion Planners
Wenxi Wu, Fabio Pierazzi, Yali Du, Martim Brandao
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Wind Field Modeling for Formation Planning in Multi-Drone Systems
Minhyuk Park, Tsz-Chiu Au
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Accelerating Long-Horizon Planning with Affordance-Directed Dynamic Grounding of Abstract Strategies
Khen Elimelech, Zachary Kingston, Wil Thomason, Vardi Moshe, Lydia Kavraki
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Neural Implicit Swept Volume Models for Fast Collision Detection
Dominik Joho, Jonas Schwinn, Kirill Safronov
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Coupled Active Perception and Manipulation Planning for a Mobile Manipulator in Precision Agriculture Applications
Shuangyu Xie, Chengsong Hu, Di Wang, Joe Johnson, Muthukumar Bagavathiannan, Dezhen Song
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On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators
Jee-eun Lee, Andrew Bylard, Zhouwen Sun, Luis Sentis
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Path and Trajectory Planning of a Tethered UAV-UGV Marsupial Robotic System
Simon Martinez-Rozas, David Alejo, Fernando Caballero, Luis Merino
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Robust In-Hand Manipulation with Extrinsic Contacts
Boyuan Liang, Kei Ota, Masayoshi Tomizuka, Devesh Jha
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A Constrained Path Following Method for Snake-Like Manipulators Via Controlled Winding Uncoiling Strategy
Mingrui Luo, Yunong Tian, yinghua cao, Minghao Chen, Yanfeng Zhang, En Li, Min Tan
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An Iterative Approach for Heterogeneous Multi-Agent Route Planning with Temporal Logic Goals and Travel Duration Uncertainty
Kaier Liang, Gustavo A. Cardona, Cristian Ioan Vasile
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Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion
George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
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CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments
Matej Novosad, Robert Penicka, Vojtech Vonasek
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Continuous Robotic Tracking of Dynamic Targets in Complex Environments Based on Detectability
Zhihao Wang, Shixing Huang, Minghang Li, Junyuan Ouyang, Yu Wang, Haoyao Chen
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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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Virtual Passive-Joint Space Based Time-Optimal Trajectory Planning for a 4-DOF Parallel Manipulator
Jie Zhao, Guilin Yang, Haoyu Shi, Silu Chen, Chin-Yin Chen, Chi Zhang
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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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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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