Now showing items 57-64 of 64

    • 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 ...
    • Time-Optimal Path Following with Bounded Joint Accelerations and Velocities 

      Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2011)
      This paper presents a method to generate the time-optimal trajectroy that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path ...
    • Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity 

      Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2012-07)
      This paper presents a novel method to generate the time-optimal trajectory that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path ...
    • Towards Stable Balancing 

      Zafar, Munzir; Erdogan, Can; Stilman, Mike (Georgia Institute of Technology, 2014)
    • Turning Paths Into Trajectories Using Parabolic Blends 

      Kunz, Tobias; Stilman, Mike (Georgia Institute of Technology, 2011)
      We present an approach for converting a path of multiple continuous linear segments into a trajectory that satisfies velocity and acceleration constraints and closely follows the given path without coming to a complete ...
    • Whole-Body Trajectory Optimization for Humanoid Falling 

      Wang, Jiuguang; Whitman, Eric C.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-06)
      We present an optimization-based control strategy for generating whole-body trajectories for humanoid robots in order to minimize damage due to falling. In this work, the falling problem is formulated using optimal ...