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A good representation of a large, complex mobile robot workspace must be space-efficient yet capable of encoding relevant geometric …

We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of search-based and reactive approaches for motion …

We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based …

In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, …

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms …

Research Statement, summarizing the recent work in reactive planning and mobile manipulation with legged robots.

We document the reliably repeatable dynamical mounting and dismounting of wheeled stools and carts, and of fixed ledges, by the Minitaur …

This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected …

We demonstrate the physical rearrangement of wheeled stools in a moderately cluttered indoor environment by a quadrupedal robot that …

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles …