Selectively reactive coordination for a team of robot soccer champions
CMDragons 2015 is the champion of the RoboCup Small Size League of autonomous robot
soccer. The team won all of its six games, scoring a total of 48 goals and conceding 0. This …
soccer. The team won all of its six games, scoring a total of 48 goals and conceding 0. This …
Ontological physics-based motion planning for manipulation
Robotic manipulation involves actions where contacts occur between the robot and the
objects. In this scope, the availability of physics-based engines allows motion planners to …
objects. In this scope, the availability of physics-based engines allows motion planners to …
Adaptive level-of-detail planning for efficient humanoid navigation
A Hornung, M Bennewitz - 2012 IEEE International Conference …, 2012 - ieeexplore.ieee.org
In this paper, we consider the problem of efficient path planning for humanoid robots by
combining grid-based 2D planning with footstep planning. In this way, we exploit the …
combining grid-based 2D planning with footstep planning. In this way, we exploit the …
[HTML][HTML] Depth-based short-sighted stochastic shortest path problems
FW Trevizan, MM Veloso - Artificial Intelligence, 2014 - Elsevier
Abstract Stochastic Shortest Path Problems (SSPs) are a common representation for
probabilistic planning problems. Two approaches can be used to solve SSPs:(i) consider all …
probabilistic planning problems. Two approaches can be used to solve SSPs:(i) consider all …
Short-sighted stochastic shortest path problems
F Trevizan, M Veloso - Proceedings of the International Conference on …, 2012 - ojs.aaai.org
Two extreme approaches can be applied to solve a probabilistic planning problem, namely
closed loop algorithms and open loop (aka replanning) algorithms. While closed loop …
closed loop algorithms and open loop (aka replanning) algorithms. While closed loop …
Physics-based motion planning: Evaluation criteria and benchmarking
Motion planning has evolved from coping with simply geometric problems to physics-based
ones that incorporate the kinodynamic and the physical constraints imposed by the robot …
ones that incorporate the kinodynamic and the physical constraints imposed by the robot …
Computing opportunities to augment plans for novel replanning during execution
D Borrajo, M Veloso - Proceedings of the International Conference on …, 2021 - ojs.aaai.org
Traditionally, planning provides for execution plans as sequences of actions with
preconditions and effects. Execution monitoring identifies failure conditions when the …
preconditions and effects. Execution monitoring identifies failure conditions when the …
κ-PMP: Enhancing Physics-based Motion Planners with Knowledge-Based Reasoning
Physics-based motion planning is a challenging task, since it requires the computation of the
robot motions while allowing possible interactions with (some of) the obstacles in the …
robot motions while allowing possible interactions with (some of) the obstacles in the …
AND/OR search techniques for chance constrained motion primitive path planning
G Gutow, JD Rogers - Robotics and Autonomous Systems, 2022 - Elsevier
Motion primitive planning under parametric uncertainty may be modeled as a chance-
constrained Markov Decision Process (CCMDP). Single-query solutions to CCMDPs can be …
constrained Markov Decision Process (CCMDP). Single-query solutions to CCMDPs can be …
Integrating physics-based prediction with semantic plan execution monitoring
Real-world robotic systems have to perform reliably in uncertain and dynamic environments.
State-of-the-art cognitive robotic systems use an abstract symbolic representation of the real …
State-of-the-art cognitive robotic systems use an abstract symbolic representation of the real …