Research

[IROS2019] Sampling-based Motion Planning for Aerial Pick-and-Place

This paper presents a motion planning approach for an aerial pick-and-place task where an aerial manipulator is supposed to pick up or place an object at locations specified as way-points. In particular, we focus on situations where such way-point constraints are imposed on certain partial state ...

[RAL2019] Incorporating Safety into Parametric Dynamic Movement Primitives

Parametric dynamic movement primitives (PDMPs) are powerful motion representation algorithms, which encode multiple demonstrations and generalize them. As an online trajectory from PDMPs emulates the provided demonstrations, managing the safety guarantee of the demonstrations for a given scenario...

[ICAS2016] Sampling-based Motion Planning for Cooperative Aerial Manipulation

Abstract: This paper focuses on the optimal motion planning problem for cooperative aerial manipulation. We use the rapidly exploring random trees star (RRT) algorithm that finds feasible paths quickly and optimizes them. For local planning within RRT, we developed a trajectory planner using Bezi...

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Journal

[RAL2019] Incorporating Safety into Parametric Dynamic Movement Primitives

Parametric dynamic movement primitives (PDMPs) are powerful motion representation algorithms, which encode multiple demonstrations and generalize them. As an online trajectory from PDMPs emulates the provided demonstrations, managing the safety guarantee of the demonstrations for a given scenario...

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Conference

[IROS2019] Sampling-based Motion Planning for Aerial Pick-and-Place

This paper presents a motion planning approach for an aerial pick-and-place task where an aerial manipulator is supposed to pick up or place an object at locations specified as way-points. In particular, we focus on situations where such way-point constraints are imposed on certain partial state ...

[ICAS2016] Sampling-based Motion Planning for Cooperative Aerial Manipulation

Abstract: This paper focuses on the optimal motion planning problem for cooperative aerial manipulation. We use the rapidly exploring random trees star (RRT) algorithm that finds feasible paths quickly and optimizes them. For local planning within RRT, we developed a trajectory planner using Bezi...

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