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01/12/2022
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Real-time robot motion planning in complex high-dimensional environments...
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04/13/2021
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery
Robot arm placements are oftentimes a limitation in surgical preoperativ...
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02/15/2021
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-class Labels for Safety-Aware Trajectory Optimization
The objective of trajectory optimization algorithms is to achieve an opt...
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05/29/2020
Stochastic Modeling of Distance to Collision for Robot Manipulators
Evaluating distance to collision for robot manipulators is useful for as...
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02/05/2020
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
This paper focuses on real-time occupancy mapping and collision checking...
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10/14/2019
Forward Kinematics Kernel for Improved Proxy Collision Checking
Kernel functions may be used in robotics for comparing different poses o...
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02/21/2019