Now showing items 28-47 of 49

    • Navigation Among Movable Obstacles in Unknown Environments 

      Wu, Hai-Ning; Levihn, Martin; Stilman, Mike (Georgia Institute of Technology, 2010-10)
      This paper explores the Navigation Among Movable Obstacles (NAMO) problem in an unknown environment. We consider the realistic scenario in which the robot has to navigate to a goal position in an unknown environment consisting ...
    • Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments 

      Stilman, Mike; Kuffner, James J. (Georgia Institute of Technology, 2005-12)
      In this paper, we address the problem of Navigation Among Movable Obstacles (NAMO): a practical extension to navigation for humanoids and other dexterous mobile robots. The robot is permitted to reconfigure the environment ...
    • Optimized Control Strategies for Wheeled Humanoids and Mobile Manipulators 

      Stilman, Mike; Wang, Jiuguang; Teeyapan, Kasemsit; Marceau, Ray (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-12)
      Optimizing the control of articulated mobile robots leads to emergent behaviors that improve the effectiveness, efficiency and stability of wheeled humanoids and dynamically stable mobile manipulators. Our simulated ...
    • Path Planning Among Movable Obstacles: A Probabilistically Complete Approach 

      van den Berg, Jur; Stilman, Mike; Kuffner, James; Lin, Ming; Manocha, Dinesh (Georgia Institute of Technology, 2008)
      In this paper we study the problem of path planning among movable obstacles, in which a robot is allowed to move the obstacles if they block the robot's way from a start to a goal position. We make the observation that ...
    • Path Planning with Uncertainty: Voronoi Uncertainty Fields 

      Ok, Kyel; Ansari, Sameer; Gallagher, Billy; Sica, William; Dellaert, Frank; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      In this paper, a two-level path planning algorithm that deals with map uncertainty is proposed. The higher level planner uses modified generalized Voronoi diagrams to guarantee finding a connected path from the start ...
    • Planning Among Movable Obstacles with Artificial Constraints 

      Stilman, Mike; Kuffner, James J. (Georgia Institute of TechnologySage Publications, 2008-11)
      This paper presents artificial constraints as a method for guiding heuristic search in the computationally challenging domain of motion planning among movable obstacles. The robot is permitted to manipulate unspecified ...
    • Planning and Executing Navigation Among Movable Obstacles 

      Stilman, Mike; Nishiwaki, Koichi; Kagami, Satoshi; Kuffner, James J. (Georgia Institute of TechnologyBrill Academic Publishers, 2007)
      This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of Navigation Among Movable Obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various ...
    • Planning in Constraint Space: Automated Design of Functional Structures 

      Erdogan, Can; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      On the path to full autonomy, robotic agents have to learn how to manipulate their environments for their benefit. In particular, the ability to design structures that are functional in overcoming challenges is imperative. ...
    • Planning with Movable Obstacles in Continuous Environments with Uncertain Dynamics 

      Levihn, Martin; Scholz, Jonathan; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      In this paper we present a decision theoretic planner for the problem of Navigation Among Movable Obstacles (NAMO) operating under conditions faced by real robotic systems. While planners for the NAMO domain exist, they ...
    • Probabilistic Human Action Prediction and Wait-sensitive Planning for Responsive Human-robot Collaboration 

      Hawkins, Kelsey P.; Vo, Nam; Bansal, Shray; Bobic, Aaron F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      A novel representation for the human component of multi-step, human-robot collaborative activity is presented. The goal of the system is to predict in a probabilistic manner when the human will perform different subtasks ...
    • Push Planning for Object Placement in Clutter Using the PR-2 

      Emeli, Victor; Kemp, Charles C.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      The goal of this project is to investigate the implementation of a planning algorithm for the problem of placing objects on a cluttered surface with a PR-2 mobile manipulator. The original push planning algorithm [1] ...
    • Push Planning for Object Placement on Cluttered Table Surfaces 

      Cosgun, Akansel; Hermans, Tucker; Emeli, Victor; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      We present a novel planning algorithm for the problem of placing objects on a cluttered surface such as a table, counter or floor. The planner (1) selects a placement for the target object and (2) constructs a sequence ...
    • Real-Time Path Planning for a Robot Arm in Changing Environments 

      Kunz, Tobias; Reiser, Ulrich; Stilman, Mike; Verl, Alexander (Georgia Institute of Technology, 2010-10)
      We present a practical strategy for real-time path planning for articulated robot arms in changing environments by integrating PRM for Changing Environments with 3D sensor data. Our implementation on Care-O-Bot 3 ...
    • Robot Jenga: Autonomous and Strategic Block Extraction 

      Wang, Jiuguang; Rogers, Philip; Parker, Lonnie T.; Brooks, Douglas Antwonne; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009)
      This paper describes our successful implementation of a robot that autonomously and strategically removes multiple blocks from an unstable Jenga tower. We present an integrated strategy for perception, planning and control ...
    • Robot Limbo: Optimized Planning and Control for Dynamically Stable Robots Under Vertical Obstacles 

      Teeyapan, Kasemsit; Wang, Jiuguang; Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2010-05)
      We present successful control strategies for dynamically stable robots that avoid low ceilings and other vertical obstacles in a manner similar to limbo dances. Given the parameters of the mission, including the goal and ...
    • Robot Path Planning Using Field Programmable Analog Arrays 

      Koziol, Scott; Hasler, Paul; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      We present the successful application of reconfigurable Analog-Very-Large-Scale-Integrated (AVLSI) circuits to motion planning for the AmigoBot robot. Previous research has shown that custom application-specific-integ ...
    • Robust and Efficient Communication for Real-Time Multi-Process Robot Software 

      Dantam, Neil; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-11)
      We present a new Interprocess Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating drivers, controllers, and algorithms in complex robotic systems such as humanoid robots. Ach eliminates ...
    • Sampling Heuristics for Optimal Motion Planning in High Dimensions 

      Akgun, Baris; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      We present a sampling-based motion planner that improves the performance of the probabilistically optimal RRT* planning algorithm. Experiments demonstrate that our planner finds a fast initial path and decreases the ...
    • Stable Stacking for the Distributor’s Pallet Packing Problem 

      Schuster, Martin; Bormann, Richard; Steidl, Daniela; Reynolds-Haertle, Saul; Stilman, Mike (Georgia Institute of Technology, 2010-10)
      We present a novel algorithm that solves the distributor's pallet packing problem. In contrast to existing algorithms, our method optimizes stack stability in addition to stack volume. Furthermore, our algorithm explicitly ...
    • Task Constrained Motion Planning in Robot Joint Space 

      Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained motion for joint space planners and develops ...