Motion planning is a fundamental research area in robotics. Sampling-based methods offer
an efficient solution for what is otherwise a rather challenging dilemma of path planning …

This article surveys manipulation, including both biological and robotic manipulation.
Biology inspires robotics and demonstrates aspects of manipulation that are far in the future …

In this paper, we present CHOMP (covariant Hamiltonian optimization for motion planning),
a method for trajectory optimization invariant to reparametrization. CHOMP uses functional …

Artificial intelligence (AI) is a field within computer science that is attempting to build
enhanced intelligence into computer systems. This book traces the history of the subject …

We describe an integrated strategy for planning, perception, state estimation and action in
complex mobile manipulation domains based on planning in the belief space of probability …

Society is becoming more automated with robots beginning to perform most tasks in
factories and starting to help out in home and office environments. One of the most important …

It is important for a robot to be able to interpret natural language commands given by a
human. In this paper, we consider performing a sequence of mobile manipulation tasks with …

We present MOPED, a framework for Multiple Object Pose Estimation and Detection that
seamlessly integrates single-image and multi-image object recognition and pose estimation …

Mobile manipulators for indoor human environments can serve as versatile devices that
perform a variety of tasks, yet adoption of this technology has been limited. Reducing size …

Adaptation is critical for effective team collaboration. This paper introduces a computational
formalism for mutual adaptation between a robot and a human in collaborative tasks. We …