Human-Guided Motion Planning in Partially Observable Environments

Human-in-the-loop algorithm to compute joint-space trajectories for high-DoF robots under partial observability

Inverse Kinematics Robo Picasso

Solving the inverse kinematics problem for a FANUC S-500 robot and using it to draw a Mickey Mouse

Motion Planning with incomplete scene information

A Fetch robot doing Motion Planning and executing a trajectory when the scene representation may be incomplete

Robust Motion Planning under Sensing Uncertainty

Optimization-based motion planning algorithm capable of incorporating sensing uncertainty for a variety of noise models