Andreas Orthey

Technical University of Berlin

収録論文 27本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• PEEL: スケール不変サンプリングによる長期的分解計画の並列抽出
  マニピュレーション2026/8/9

  ロボットによる多部品物体の分解作業を効率的に解くため、スケール不変サンプリングを用いた並列抽出アルゴリズムPEELを提案し、Fetchマニピュレータで長期的な分解問題を解決した。

• 大規模アセンブリのメイクスパン最適化のための協調型マルチロボット分解
  群制御2026/8/6

  複数ロボットによる分解作業の計画手法CoMuDiを提案し、時間制約の伝播とST-RRT*プランナーを統合して全体の完了時間を最小化する。最大49部品・9ロボットのシナリオで有効性を実証した。

• PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling
  2026/8/1
• Coordinated Multi-Robot Disassembly for Makespan Optimization of Large-Scale Assemblies
  2026/8/1
• PhyRoGen: Synthetic Generation of Physical Robot Manipulation Puzzles Using Procedural Content Generation
  2026/6/1
• Fibration Trees: A Unified Approach to Multi-Robot Motion Planning
  2026/6/1
• Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction
  2026/4/1
• Fast-dRRT*: Efficient Multi-Robot Motion Planning for Automated Industrial Manufacturing
  2023/9/1
• Asymptotically Optimal Belief Space Planning in Discrete Partially-Observable Domains
  2023/9/1
• Sampling-Based Motion Planning: A Comparative Review
  2023/9/1
• Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces
  2022/12/1
• Multi-Arm Bin-Picking in Real-Time: A Combined Task and Motion Planning Approach
  2022/11/1
• Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs
  2022/4/1
• ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time
  2022/3/1
• BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
  2022/3/1
• MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
  2021/12/1
• Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning
  2021/7/1
• Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
  2021/6/1
• Sparse Multilevel Roadmaps for High-Dimensional Robot Motion Planning
  2020/11/1
• Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts
  2020/11/1
• Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning
  2020/10/1
• Multilevel Motion Planning: A Fiber Bundle Formulation
  2020/7/1
• Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory
  2020/2/1
• Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree
  2019/9/1
• Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications
  2019/6/1
• Motion Planning in Irreducible Path Spaces
  2018/9/1
• Quotient-Space Motion Planning
  2018/7/1