Fast collision detection through bounding volume hierarchies in workspace-time space for sampling-based motion planners Ulrich Schwesinger1 , Roland Siegwart1 and Paul Furgale1 Abstract— This paper presents a fast coll

Source URL: europa2.informatik.uni-freiburg.de

• Computer science
• Computational geometry
• 3D computer graphics
• Computing
• Video game development
• Collision detection
• Search algorithms
• Computer graphics
• Motion planning
• Bounding volume
• Collision
• Minimum bounding box

The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty Ron Alterovitz Thierry Sim´eon

Source URL: goldberg.berkeley.edu

• Probability theory
• Mathematical analysis
• Mathematics
• Markov processes
• Robot control
• Classical mechanics
• Markov models
• Dynamic programming
• Motion planning
• Stochastic roadmap simulation
• Probabilistic roadmap
• Markov decision process

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics Vincent Duindam1 , Jijie Xu2 , Ron Alterovitz1,3 , Shankar Sastry1 , and Ken Goldberg1,2 1

Source URL: goldberg.berkeley.edu

• Robot kinematics
• Mathematics
• Physics
• Inverse kinematics
• Motion planning
• Dubins path
• A* search algorithm
• Kinematics
• Shortest path problem
• Equation solving

Know Your Limits: Embedding Localiser Performance Models in Teach and Repeat Maps Winston Churchill, Chi Hay Tong, Corina Gur˘au, Ingmar Posner and Paul Newman I. I NTRODUCTION We need robots to be useful over large spa

Source URL: europa2.informatik.uni-freiburg.de

• Motion planning
• Theoretical computer science
• Simultaneous localization and mapping
• Envelope
• Academia

Extending Rapidly-Exploring Random Trees for Asymptotically Optimal Anytime Motion Planning Yasin Abbasi-Yadkori and Joseph Modayil and Csaba Szepesvari Abstract— We consider the problem of anytime planning in continuo

Source URL: webdocs.cs.ualberta.ca

Guiding Medical Needles Using Single-Point Tissue Manipulation Meysam Torabi1 , Kris Hauser2 , Ron Alterovitz3 , Vincent Duindam2 , and Ken Goldberg4 Abstract— This paper addresses the use of robotic tissue manipulatio

Source URL: goldberg.berkeley.edu

• Medical physics
• Radiation therapy
• Biopsy
• Breast surgery
• Motion planning
• Theoretical computer science
• Brachytherapy
• Prostate cancer
• Prostate
• Fine-needle aspiration

Planning ”Fireworks” Trajectories for Steerable Medical Needles to Reduce Patient Trauma Jijie Xu1 , Vincent Duindam2 , Ron Alterovitz3 , Jean Pouliot4 , J. Adam M. Cunha4 , I-Chow Joe Hsu4 and Ken Goldberg2 Abstract

Source URL: goldberg.berkeley.edu

• Search algorithms
• Robot navigation
• Motion planning
• Theoretical computer science
• Rapidly-exploring random tree
• Needle
• Linear programming
• Nearest neighbor search

SHIV: Reducing Supervisor Burden in DAgger using Support Vectors for Efficient Learning from Demonstrations in High Dimensional State Spaces Michael Laskey1 , Sam Staszak1 , Wesley Yu-Shu Hsieh1 , Jeffrey Mahler1 , Flori

Source URL: goldberg.berkeley.edu

• Machine learning
• Artificial intelligence
• Statistics
• Learning
• Statistical classification
• Support vector machine
• Apprenticeship learning
• Artificial neural network
• Loss function
• Motion planning
• Reinforcement learning
• Robotics

Deformable Volumes in Path Planning Applications Elliot Anshelevich Scott Owens Florent Lamiraux Lydia E. Kavraki Department of Computer Science, Rice University Houston, TXAbstract This paper addresses the proble

Source URL: www.cs.rpi.edu

• Mechanics
• Solid mechanics
• Physics
• Deformation
• Elasticity
• Continuum mechanics
• Classical mechanics
• Plasticity
• Elastic energy
• Motion planning
• Work
• Soft tissue

Continuous Arvand: Motion Planning with Monte Carlo Random Walks Weifeng Chen and Martin Müller Presented by Robert Holte Department of Computing Science

Source URL: webdocs.cs.ualberta.ca