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This paper solves the problem of computing the best grasp in a discrete point set based on a popular grasp quality measure, namely the largest origin-centered ball contained in the grasp wrench set. So far, the solution to this problem is very limited. Noticing that the quality measure for a grasp is equal to the minimum value of the support function of its grasp wrench set over all directions and...
In this paper, we propose a learning algorithm that speeds up the search in task and motion planning problems. Our algorithm proposes solutions to three different challenges that arise in learning to improve planning efficiency: what to predict, how to represent a planning problem instance, and how to transfer knowledge from one problem instance to another. We propose a method that predicts constraints...
Solutions to robotic manipulation problems can be substantially improved through integrated task and motion planning. Existing approaches typically focus on satisfaction, finding a feasible solution, instead of optimization. We formulate large-scale robotic manipulation problems as multi-level optimization, incorporating task, action, and motion planning. We develop an integrated planning approach...
Interactive bionics-swarm co-evolutionary hybrid algorithm system architecture is presented by using cultural double evolutionary structure in this paper. The architecture includes the upper ceiling knowledge space based on good-point-set genetic algorithm (GGA), the bottom ceiling population space based on discrete particle swarm optimization (DPSO), the top-down influence mechanism and the bottom-up...
This paper addresses the design and optimization of robotically-reconfigurable structures from an algorithmic point of view. First, we address the algorithmic challenge of searching for a sequence of structural modifications that can transform a given modular structure into a new target structure that serves a different function. The target structure is not explicitly specified, only its desired function,...
This paper proposes a path planning algorithm for determining an optimal path with respect to the costs of a dual graph on the Constrained Delaunay Triangulation (CDT) of an environment. The advantages of using triangles for environment expression are: less data storage required, available mature triangulation methods and consistent with a potential motion planning framework. First we represent the...
We give an algorithm to construct a cell decomposition of Rd, including adjacency information, defined by any given set of rational polynomials in d variables. The algorithm runs in single exponential parallel time, and in NC for fixed d. The algorithm extends a recent algorithm of Ben-Or, Kozen, and Reif for deciding the theory of real closed fields.
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