*Oct*

Optimization-based motion planning approaches, such asNonlinear Programming (NLP) and Mixed-Integer Programming (MIP), solve optimization problems, and find solutions using gradient descent while satisfying constraints. For instance, CHOMP optimizes a cost functional using covariant gradient descent...

*Sep*

Presentation video of our latest work, "Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming", accepted for RA-L and IROS 2020, is now on YouTube! Our new motion planner is able to generate various trajectories for multi-limbed robots under sto...

*Aug*

Sampling-based motion planning approaches, such as Probabilistic RoadMap Method (PRM) and Rapidly-exploring Random Trees (RRT) , avoid the discretization problems of graph-based algorithms by randomly sampling the continuous domain. This scales more effectively to high-dimensional problems, but make...

*Aug*

For my latest work, I heavily used CasADi to formulate the stochastic nonlinear optimization problem. Here, I'd like to illustrate several preliminaries and tips that hopefully may be useful for others. CasADi is an open-source wrapper mainly for nonlinear programmings (NLPs), although you can...

*Jul*

In this blog post, I explain graph-search based motion planning algorithms, which overlay a grid on configuration space and assume that each configuration is corresponding to a grid node. Then, the robot is allowed to traverse to adjacent grid points as long as the edge between the nodes is collisio...

*Jul*

Motion planning is a key component for robots to realize navigation. A number of great works have been conducted in the world. They are grid-based approaches, sampling-based approaches, and trajectory optimization. I'll summarize the pros and cons of each motion planning algorithms in the future. ...

*Jun*

This week, I was working on the following tasks: Formal analysis of a new motion planner with theoretical guarantees in terms of computation Survey of other motion planning algorithms using trajectory optimization. Although I was able to understand pros and cons of my new motion planner, I sti...

*Jun*

I was working on the following things this week: Proof sketch of new motion planner algorithms in terms of sub-optimality Finalize the paper, which was recently accepted for RA-L! Participated in ICRA conferences, where I could communicate the authors of other great papers. In particular, I wa...

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