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Thai Duong, Clayton W. Ramsey, Zachary Kingston, and Wil Thomason are with the Department of Computer Science, Rice University, Houston, TX, 77005, USA.Lydia E. Kavraki is with the Department of Computer Science, Rice University, Houston, TX, 77005 USA, and the Ken Kennedy Institute, Houston, TX, 77005 USA. Correspondence: thaiduong@rice.edu, kavraki@rice.edu
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Kinodynamic motion planning just got a whole lot faster: AkinoPDF achieves microsecond-level planning times by exploiting differential flatness for analytical solutions.
High-DoF robots can now navigate complex environments while actively maintaining visual contact with multiple objects, thanks to a new motion planner that bakes perception directly into the planning process.
