In order for robotic devices to perform useful tasks they usually need to execute sequences of motions. I am
interested in the simultaneous computation of task plans and motion plans: a discrete sequence of actions and its
corresponding continuous motions.
In practical applications of motion planning only noisy sensor data is available. I am interested in reducing the
gap between perception and planning so that sensed data is more quickly considered in the motion planning process
and planning data is used in the perception process.
I am interested in the development and application of motion planners that consider the physical properties of
robotic devices, and allow fast computation times at the same time.
Estimating Coverage in High-Dimensional State Spaces
Estimation of coverage while searching high dimensional spaces is a common problem for many sampling-based motion
planning algorithms. I am interested in the automatic computation of lower dimensional Euclidean projections that
allow estimation of coverage.
Motion Planning with Real Perception on a PR2 from Willow Garage. The motion planning code used here is part of
the OMPL library, unless otherwise specified.
A demo of sampling-based motion planning combined with a trajectory optimization technique (CHOMP) to safely
approach and manipulate objects in a replanning context with real-time perception.
Manipulation of known grasped objects in a complex environment.
Manipulation of known grasped objects in a complex environment.
Moving a glass. The task is to move the glass to the right for 30cm without spilling its content.
Moving a glass. The task is to move the left-most glass 50cm to the right, without spilling its content.