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Many proteins undergo extensive conformational changes as part of their functionality. Tracing these changes is important for understanding the way these proteins function. Traditional biophysics-based conformational search methods require a large number of calculations and are hard to apply to large-scale conformational motions. In this work we investigate the application of a robotics-inspired method,...
Sampling-based motion planners are often used to solve very high-dimensional planning problems. Many recent algorithms use projections of the state space to estimate properties such as coverage, as it is impractical to compute and store this information in the original space. Such estimates help motion planners determine the regions of space that merit further exploration. In general, the employed...
This paper presents significant steps towards the online integration of 3D perception and manipulation for personal robotics applications. We propose a modular and distributed architecture, which seamlessly integrates the creation of 3D maps for collision detection and semantic annotations, with a real-time motion replanning framework. To validate our system, we present results obtained during a comprehensive...
This paper provides proof-of-concept that state-of-the-art sampling-based motion planners that are tightly integrated with a physics-based simulator can compute paths that can be executed by a physical robotic system. Such a goal has been the subject of intensive research during the last few years and reflects the desire of the motion planning community to produce paths that are directly relevant...
A series of kinodynamic sampling-based planners have appeared over the last decade to deal with high dimensional problems for robots with realistic motion constraints. Yet, offline sampling-based planners only work in static and known environments, suffer from unbounded memory requirements and the produced paths tend to contain a lot of unnecessary maneuvers. This paper describes an online replanning...
We have recently proposed DSLX, a motion planner that significantly reduces the computational time for solving challenging kinodynamic problems by interleaving continuous state-space exploration with discrete search on a workspace decomposition. An important but inadequately understood aspect of DSLX is the role of the workspace decomposition on the computational efficiency of the planner. Understanding...
This paper considers the problem of coordinating multiple vehicles with kinodynamic constraints that operate in the same partially-known environment. The vehicles are able to communicate within limited range. Their objective is to avoid collisions between them and with the obstacles, while the vehicles move towards their goals. An important issue of real-time planning for systems with bounded acceleration...
We consider motion planning problems for a vehicle with kinodynamic constraints, where there is partial knowledge about the environment and replanning is required. We present a new tree-based planner that explicitly deals with kinodynamic constraints and addresses the safety issues when planning under finite computation times, meaning that the vehicle avoids collisions in its evolving configuration...
The rapidly increasing complexity of tasks robotic systems are expected to carry out underscores the need for the development of motion planners that can take into account discrete changes in the continuous motions of the system. Completion of tasks such as exploration of unknown or hazardous environments often requires discrete changes in the controls and motions of the robot in order to adapt to...
The success of sampling-based motion planners has resulted in a plethora of methods for improving planning components, such as sampling and connection strategies, local planners and collision checking primitives. Although this rapid progress indicates the importance of the motion planning problem and the maturity of the field, it also makes the evaluation of new methods time consuming. We propose...
This paper describes a randomized approach for finding invariants in a set of flexible and chemically distinct ligands (drug molecules) that underlies an integrated software system called RAPID currently under development. An invariant is a collection of features embedded in R 3 which is present in one or more of the possible low-energy conformations of each ligand. Such invariants are called...
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