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Task and motion planning for mobile manipulators
This thesis introduces new concepts and algorithms that can be used to solve the simultaneous task and motion planning (STAMP) problem. Given a set of actions a robot could perform, the STAMP problem asks for a sequence ...
Kinodynamic motion planning for high-dimensional physical systems
This thesis presents a kinodynamic motion planner, Kinodynamic Motion Planning by Interior-Exterior Cell Exploration ( KPIECE ), specifically designed for systems with complex dynamics, where physics-based simulation is ...