Learning Equality Constraints for Motion Planning on Manifolds

1 code implementation • 24 Sep 2020 • Giovanni Sutanto, Isabel M. Rayas Fernández, Peter Englert, Ragesh K. Ramachandran, Gaurav S. Sukhatme

Constrained robot motion planning is a widely used technique to solve complex robot tasks.

Motion Planning valid

Learning Manifolds for Sequential Motion Planning

1 code implementation • 13 Jun 2020 • Isabel M. Rayas Fernández, Giovanni Sutanto, Peter Englert, Ragesh K. Ramachandran, Gaurav S. Sukhatme

Motion planning with constraints is an important part of many real-world robotic systems.

Robotics Computational Geometry

Sampling-Based Motion Planning on Sequenced Manifolds

1 code implementation • 3 Jun 2020 • Peter Englert, Isabel M. Rayas Fernández, Ragesh K. Ramachandran, Gaurav S. Sukhatme

We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion.

Robotics Computational Geometry

Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking

no code implementations • 3 Dec 2019 • Eric Heiden, Ziang Liu, Ragesh K. Ramachandran, Gaurav S. Sukhatme

Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurements of the environment.

Resilient Coverage: Exploring the Local-to-Global Trade-off

no code implementations • 3 Oct 2019 • Ragesh K. Ramachandran, Lifeng Zhou James A. Preiss, Gaurav S. Sukhatme

We propose a centralized control framework to select suitable robots from a heterogeneous pool and place them at appropriate locations to monitor a region for events of interest.