Planning with Constraints

Interacting with the world imposes constraints on your motion: you open doors about their hinge, pull drawers along their rails, keep glasses of liquid upright so they do not spill, and more. Respecting these constraints while still generating feasible or optimal motion is complex and requires careful consideration in the design of planning algorithms and how the constraints are specified and satisfied. There are also many exciting considerations when there are many constraints that need to be satisfied simultaneously (e.g., a humanoid robot that must open a door, keep a glass upright, and maintain balance, or as shown in the video, a parallel mechanism with many interacting arms) or in sequence (e.g., as shown in the video, Robonaut 2 traversing multiple handrails, opening the hatch, and so on).


2024

  1. arXiv
    Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation
    Under Review
  2. arXiv
    Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation
    Under Review

2023

  1. Scaling Multimodal Planning: Using Experience and Informing Discrete Search
    IEEE Transactions on Robotics

2021

  1. Using Experience to Improve Constrained Planning on Foliations for Multi-Modal Problems
    In IEEE/RSJ International Conference on Intelligent Robots and Systems

2020

  1. Planning Under Manifold Constraints, Encyclopedia of Robotics
  2. Informing Multi-Modal Planning with Synergistic Discrete Leads
    In IEEE International Conference on Robotics and Automation
  3. Decoupling Constraints from Sampling-Based Planners
    In Robotics Research

2019

  1. Exploring Implicit Spaces for Constrained Sampling-Based Planning
    The International Journal of Robotics Research

2018

  1. Sampling-Based Methods for Motion Planning with Constraints
    Annual Review of Control, Robotics, and Autonomous Systems

2017

  1. Robonaut 2 and You: Specifying and Executing Complex Operations
    William Baker ,  Zachary KingstonMark Moll , Julia Badger , and Lydia E. Kavraki
    In IEEE Workshop on Advanced Robotics and its Social Impacts

2015

  1. Kinematically Constrained Workspace Control via Linear Optimization
    In IEEE-RAS International Conference on Humanoid Robots