Search Results - "Bekris, Kostas"

Asymptotically optimal sampling-based kinodynamic planning by Li, Yanbo, Littlefield, Zakary, Bekris, Kostas E.

“…Sampling-based algorithms are viewed as practical solutions for high-dimensional motion planning. Recent progress has taken advantage of random geometric graph…”
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Sparse roadmap spanners for asymptotically near-optimal motion planning by Dobson, Andrew, Bekris, Kostas E.

“…Asymptotically optimal planners, such as PRM*, guarantee that solutions approach optimal as the number of iterations increases. Roadmaps with this property,…”
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dRRT: Scalable and informed asymptotically-optimal multi-robot motion planning by Shome, Rahul, Solovey, Kiril, Dobson, Andrew, Halperin, Dan, Bekris, Kostas E.

“…Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared…”
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se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains by Wen, Bowen, Mitash, Chaitanya, Ren, Baozhang, Bekris, Kostas E.

“…Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot…”
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Adaptive tensegrity locomotion: Controlling a compliant icosahedron with symmetry-reduced reinforcement learning by Surovik, David, Wang, Kun, Vespignani, Massimo, Bruce, Jonathan, Bekris, Kostas E

“…Tensegrity robots, which are prototypical examples of hybrid soft–rigid robots, exhibit dynamical properties that provide ruggedness and adaptability. They…”
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Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps by Han, Shuai D, Stiffler, Nicholas M, Krontiris, Athanasios, Bekris, Kostas E, Yu, Jingjin

“…This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems…”
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Physics-based scene-level reasoning for object pose estimation in clutter by Mitash, Chaitanya, Boularias, Abdeslam, Bekris, Kostas

“…This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting…”
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Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation by Kleinbort, Michal, Solovey, Kiril, Littlefield, Zakary, Bekris, Kostas E., Halperin, Dan

“…The rapidly exploring random tree (RRT) algorithm has been one of the most prevalent and popular motion-planning techniques for two decades now. Surprisingly,…”
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Guest Editorial: Special Issue on the 2016 Workshop on the Algorithmic Foundations of Robotics (WAFR) by Bekris, Kostas, Kavraki, Lydia E

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Team RuBot’s experiences and lessons from the ARIAC by Feng, Si Wei, Guo, Teng, Bekris, Kostas E., Yu, Jingjin

“…We share experiences and lessons learned in participating the annual Agile Robotics for Industrial Automation Competition (ARIAC). ARIAC is a simulation-based…”
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Kinodynamic planning for spherical tensegrity locomotion with effective gait primitives by Littlefield, Zakary, Surovik, David, Vespignani, Massimo, Bruce, Jonathan, Wang, Weifu, Bekris, Kostas E

“…Tensegrity-based robots can achieve locomotion through shape deformation and compliance. They are highly adaptable to their surroundings, and are lightweight,…”
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Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains by McMahon, Troy, Sivaramakrishnan, Aravind, Kedia, Kushal, Granados, Edgar, Bekris, Kostas E.

“…This paper explores learning an effective controller for improving the efficiency of kinodynamic planning for vehicular systems navigating uneven terrains. It…”
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Corrections to "Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation" by Kleinbort, Michal, Solovey, Kiril, Littlefield, Zakary, Bekris, Kostas E., Halperin, Dan

“…Our original publication Kleinbort et al. (2019) contains an error in the analysis of the case of the kinodynamic RRT. Here, we rectify the problem by…”
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Safe distributed motion coordination for second-order systems with different planning cycles by Bekris, Kostas E, Grady, Devin K, Moll, Mark, Kavraki, Lydia E

“…When multiple robots operate in the same environment, it is desirable for scalability purposes to coordinate their motion in a distributed fashion while…”
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Learning a State Transition Model of an Underactuated Adaptive Hand by Sintov, Avishai, Morgan, Andrew S., Kimmel, Andrew, Dollar, Aaron M., Bekris, Kostas E., Boularias, Abdeslam

“…Fully actuated multifingered robotic hands are often expensive and fragile. Low-cost underactuated hands are appealing but present challenges due to the lack…”
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Improving Kinodynamic Planners for Vehicular Navigation with Learned Goal-Reaching Controllers by Sivaramakrishnan, Aravind, Granados, Edgar, Karten, Seth, McMahon, Troy, Bekris, Kostas E.

“…This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a…”
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Analysis and Observations From the First Amazon Picking Challenge by Correll, Nikolaus, Bekris, Kostas E., Berenson, Dmitry, Brock, Oliver, Causo, Albert, Hauser, Kris, Okada, Kei, Rodriguez, Alberto, Romano, Joseph M., Wurman, Peter R.

“…This paper presents an overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The…”
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Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses by Wang, Rui, Mitash, Chaitanya, Lu, Shiyang, Boehm, Daniel, Bekris, Kostas E.

“…Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to…”
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Exploring the utility of robots in exposure studies by Feld-Cook, Elisabeth, Shome, Rahul, Zaleski, Rosemary T., Mohan, Krishnan, Kourtev, Hristiyan, Bekris, Kostas E., Weisel, Clifford P., Shin, Jennifer (Mi K.)

“…Obtaining valid, reliable quantitative exposure data can be a significant challenge for industrial hygienists, exposure scientists, and other health science…”
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Planning representations and algorithms for prehensile multi-arm manipulation by Dobson, Andrew, Bekris, Kostas E.

“…This paper describes the topology of general multi-arm prehensile manipulation. Reasonable assumptions are applied to reduce the number of manipulation modes,…”
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