Blog

Writing about robotics, motion planning, and research.

Search-Based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-Based Primitives

IROS 2021 — Path planning for a 21-DOF snake robot navigating cluttered gas turbines using dynamic optimization-based actions and multi-heuristic search.

Motion PlanningOptimizationResearch
May 2021

Learning to Use Adaptive Motion Primitives in Search Based Planning for Navigation

IROS 2020 — A learning-based approach for intelligent activation of adaptive motion primitives, achieving over 2x speedup in planning times.

Motion PlanningDeep LearningResearch
Mar 2020

Motion Planning for Localization in Non-Gaussian Belief Spaces

Planning actions to disambiguate multi-modal robot state hypotheses and achieve unimodal belief in finite time.

SLAMMotion PlanningResearch
Nov 2019