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09/03/2023
Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects
We present a sampling-based approach to reasoning about the caging-based...
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10/08/2022
An Efficient and Continuous Voronoi Density Estimator
We introduce a non-parametric density estimator deemed Radial Voronoi De...
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06/16/2022
Active Nearest Neighbor Regression Through Delaunay Refinement
We introduce an algorithm for active function approximation based on nea...
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06/16/2022
Voronoi Density Estimator for High-Dimensional Data: Computation, Compactification and Convergence
The Voronoi Density Estimator (VDE) is an established density estimation...
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03/03/2022
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
Optimal sampling based motion planning and trajectory optimization are t...
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07/06/2021
Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning
In this extended abstract, we report on ongoing work towards an approxim...
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02/07/2020
Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
In this work we propose algorithms to explicitly construct a conservativ...
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10/27/2017
A Decomposition-Based Approach to Reasoning about Free Space Path-Connectivity for Rigid Objects in 2D
In this paper, we compute a conservative approximation of the path-conne...
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07/25/2016
