Real-Time Obstacle Avoidance and Motion Coordination (2009)
To exploit the potential benefit of multi-robot workcells, powerful motion planning and motion execution paradigms are necessary. The novel framework of elastic strips allows real-time obstacle...
Robert Ambrose, Christopher Atkeson, Oliver Brock, Rodney Brooks, Chris Brown, Joel Burdick, ...
This position paper argues that a concerted national effort to develop technologies for robotic service applications is critical and timely—targeting research on integrated systems for mobility and...
Towards a Mechanistic View of Protein Motion (2009)
Filip Jagodzinski, Oliver Brock
Abstract — Proteins are the fundamental building blocks of all biological systems. To perform their function, proteins generally undergo self-motions that result in changes in their...
Using a Mechanistic Perspective to Simulate Protein Backbone Motion (2008)
All Atoms, Their Interactions, Filip Jagodzinski, Oliver Brock
The majority of proteins perform their function by changing their conformation. In an effort to better understand a protein’s function and to facilitate efficient drug design methods, we desire to...
Balancing Exploration and Exploitation in Motion Planning (2008)
Markus Rickert, Oliver Brock, Alois Knoll
Abstract — Computationally efficient motion planning must avoid exhaustive exploration of configuration space. We argue that this can be accomplished most effectively by carefully balancing...
Kartik Babu, Need Real-time, Motion Planning, Oliver Brock, Lydia Kavraki, Emilio Frazzoli, ...
1. Typically, the motion planning problem’s complexity is exponential in the D.O.F. of the robot (Cspace dimension). 2. Real-life applications are normally in dynamically changing environments. 3....
Using a Mechanistic Perspective to Simulate Protein Backbone Motion (2008)
All Atoms, Their Interactions, Protein Ligand Docking, Filip Jagodzinski, Oliver Brock
Computation Time* Up to ms (10-3 10 ns (1x10 sec)-9 150 ps (1x10 sec)-12 110 ps (1x10 sec)-12 sec) 160 CPU Hours 3000 CPU Hours
Improved search for structure learning of large bayesian networks (2008)
The problem of Bayesian network structure learning is defined as an optimization problem over the space of all possible network structures. For low-dimensional data, optimal structure learning...
BIOINFORMATICS Improving Protein Structure Prediction with Model-Based Search (2008)
Motivation: De novo protein structure prediction can be formulated as search in a high-dimensional space. One of the most frequently used computational tools to solve such search problems is the...
Robert Ambrose, Christopher Atkeson, Oliver Brock, Rodney Brooks, Chris Brown, Joel Burdick, ...
This position paper argues that a concerted national effort to develop technologies for robotic service applications is critical and timely—targeting research on integrated systems for mobility and...
Towards a Mechanistic View of Protein Motion (2008)
Filip Jagodzinski, Oliver Brock
Abstract — Proteins are the fundamental building blocks of all biological systems. To perform their function, proteins generally undergo self-motions that result in changes in their...
Efficient and Robust Computation of an Approximated Medial Axis Abstract (2008)
G. Elber, N. Patrikalakis, P. Brunet (editors, Yuandong Yang, Oliver Brock, Robert N. Moll
The medial axis can be viewed as a compact representation for an arbitrary model; it is an essential geometric structure in many applications. A number of practical algorithms for its computation...
Robert Ambrose, Christopher Atkeson, Oliver Brock, Rodney Brooks, Chris Brown, Joel Burdick, ...
This position paper argues that a concerted national effort to develop technologies for robotic service applications is critical and timely—targeting research on integrated systems for mobility and...
Efficient and Robust Computation of an Approximated Medial Axis Abstract (2008)
G. Elber, N. Patrikalakis, P. Brunet (editors, Yuandong Yang, Oliver Brock, Robert N. Moll
The medial axis can be viewed as a compact representation for an arbitrary model; it is an essential geometric structure in many applications. A number of practical algorithms for its computation...
Balancing Exploration and Exploitation in Motion Planning (2008)
Markus Rickert, Oliver Brock, Alois Knoll
Abstract — Computationally efficient motion planning must avoid exhaustive exploration of high-dimensional configuration spaces by leveraging the structure present in real-world planning problems....
Oliver Brock, Oussama Khatib, Oliver Brock, Oussama Khatib
Robotic applications are expanding into dynamic, unstructured, and populated environments. Mechanisms specifically designed to address the challenges arising in these environments, such as humanoid...
Brendan Burns, Oliver Brock, Mark Moll, Lydia Kavraki, Moslem Kazemi, Mehran Mehr, ...
©2005 IEEE Copyright and Reprint Statement ©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or...
Robotic applications are expanding into dynamic, unstructured, and populated environments. Mechanisms specifically designed to address the challenges arising in these environments, such as humanoid...
Oussama Khatib, Oliver Brock, Kyong-sok Chang, Diego Ruspini, Luis Sentis, Sriram Viji, ...
A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant. They are making their way into the everyday world that...
Oussama Khatib, Oliver Brock, Kyong-sok Chang, Diego Ruspini, Luis Sentis, ...
A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant. They are making their way into the everyday world that...
A Framework For Humanoid Control and (2007)
Intelligence Robert Platt, Robert Platt, Oliver Brock, Andrew H. Fagg, Deepak Karupiah, Manfred Huber, ...
One of the goals of humanoid robotics research is the development of a humanoid capable of performing useful tasks in unknown or unpredictable environments. To address the complexities of such tasks,...
A Framework for Learning and Control in Intelligent Humanoid Robots (2007)
Brock, Oliver, Fagg, Andrew, Grupen, Roderic, Platt, Robert, Rosenstein, Michael, Sweeney, John
Future application areas for humanoid robots range from the household, to agriculture, to the military, and to the exploration of space. Service applications such as these must address a changing,...
Mora Routing, Brendan Burns, Oliver Brock, Brian Neil Levine
9 Disruption-tolerant networks (DTNs) differ from other types of networks in that capacity is created by the movements 10 of network participants. This implies that understanding and influencing the...
Dov Katz, Emily Horrell, Ong Yang, Brendan Burns, Thomas Buckley, Anna Grishkan, ...
depends on the availability of adequate experimental platforms. In this paper, we describe an ongoing effort at the University of Massachusetts Amherst to construct a hardware platform with redundant...
Dov Katz, Emily Horrell, Ong Yang, Brendan Burns, Thomas Buckley, Anna Grishkan, ...
depends on the availability of adequate experimental platforms. In this paper, we describe an ongoing effort at the University of Massachusetts Amherst to construct a hardware platform with redundant...
Sampling-based motion planning using uncertain knowledge (2006)
Sampling-based algorithms have dramatically improved the state of the art in robotic motion planning. However, these approaches still make significant assumptions that limit their applicability for...
Bayesian networks are frequently used to model statistical dependencies in data. Without prior knowledge of dependencies in the data, the structure of a Bayesian network is learned from the data....
Utility-Guided Random Trees (2006)
Random trees planning has been used to solve connectivity problems in a variety of problem domains. In particular, these approaches are some of the most successful approaches to robotic motion...
A framework for learning and control in intelligent humanoid robots (2005)
Oliver Brock, Andrew Fagg, Roderic Grupen, Robert Platt, Michael Rosenstein, John Sweeney
Future application areas for humanoid robots range from the household, to agriculture, to the military, and to the exploration of space. Service applications such as these must address a changing,...
Model-based search to determine minima in molecular energy landscapes (2005)
Search for the global minimum in a molecular energy landscape populated with numerous local minima is a difficult task. Search techniques relevant to such complex spaces can be classified as either...
Model-based motion planning (2005)
Robotic motion planning requires configuration space exploration. In high-dimensional configuration spaces, a complete exploration is computationally intractable. To devise practical motion planning...
Predicting Protein Structure with Guided Conformation Space Search (2005)
Protein structure prediction is one of the great challenges in structural biology. The ability to accurately predict the three-dimensional structure of proteins would bring about significant...
Efficient Motion Planning Based on Disassembly (2005)
Disassembly-based motion planning (DBMP) is a novel and efficient single-query, sampling-based motion planning approach for free-flying robots. Disassembly-based motion planning uses workspace...
A framework for learning and control in intelligent humanoid robots (2005)
Oliver Brock, Andrew Fagg, Roderic Grupen, Michael Rosenstein, John Sweeney
Future application areas for humanoid robots range from the household, to agriculture, to the military, and to the exploration of space. Service applications such as these must address a changing,...
Sampling-Based Motion Planning Using Predictive Models (2005)
Robotic motion planning requires configuration space exploration. In high-dimensional configuration spaces, a complete exploration is computationally intractable. Practical motion planning algorithms...
Research in Autonomous Mobile Manipulation (AMM) aims to create robotic agents capable of performing physical work in unstructured and open environments. Such technology will impact a variety of...
MV Routing and Capacity Building in Disruption Tolerant Networks (2005)
Brendan Burns, Oliver Brock, Brian Neil Levine
Disruption Tolerant Networks (DTNs) require routing algorithms that are different from those designed for ad hoc networks. In DTNs, transport of data through the network is achieved through the...
An efficient single-query motion planning approach for non-stationary robots is presented. The approach exploits workspace information to identify highly constrained placements of the robot along a...
A methodology for efficiently sampling the conformation space of molecular structures (2005)
Audrey Lee, Oliver Brock, Ileana Streinu
Motivated by recently developed computational techniques for studying protein flexibility, and their potential applications in docking, we propose an efficient method for sampling the conformational...
Model-based search to determine minima in molecular energy landscapes (2005)
Search for the global minimum in a molecular energy landscape populated with numerous local minima is a difficult task. Search techniques relevant to such complex spaces can be classified as either...
Single-query entropy-guided path planning (2005)
Motion planning for robots with many degrees of freedom requires the exploration of an exponentially large configuration space. Single-query motion planners restrict exploration to regions of...
Improving protein structure prediction with model-based search (2005)
Motivation: De novo protein structure prediction can be formulated as search in a high-dimensional space. One of the most frequently used computational tools to solve such search problems is the...
A cascaded filter approach to multi-objective control (2004)
Bryan J. Thibodeau, Stephen W. Hart, John D. Sweeney, Oliver Brock
Abstract — In this paper we propose a new approach for multiobjective control using a cascade of filters that progressively removes candidate commands which do not satisfy task constraints. The...
Efficient and robust computation of an approximated medial axis (2004)
Yuandong Yang, Oliver Brock, Robert N. Moll
The medial axis can be viewed as a compact representation for an arbitrary model; it is an essential geometric structure in many applications. A number of practical algorithms for its computation...
Cascaded Filter Approach to Multi-Objective Control (2004)
Bryan J. Thibodeau, Stephen W. Hart, Deepak R. Karuppiah, John D. Sweeney, Oliver Brock
In this paper we propose a new approach for multiobjective control using a cascade of filters that progressively removes candidate commands which do not satisfy task constraints. The approach is...
Adapting the Sampling Distribution in PRM Planners Based on an Approximated Medial Axis (2004)
Probabilistic roadmap planners have proven to be effective in solving complex path planning problems. These planners sample the configuration space to compute a representation of its free space...
Exploiting redundancy to implement multi-objective behavior (2003)
Yuandong Yang, Oliver Brock, Roderic A. Grupen
Teams of robots can be redundant with respect to a given task. This redundancy can be exploited to pursue additional objectives during the execution of the task. In this paper, we describe a...
A Framework For Humanoid Control and Intelligence (2003)
Robert Platt, Oliver Brock, Andrew H. Fagg, Deepak Karupiah, Jefferson Coelho, Manfred Huber, ...
Abstract. One of the goals of humanoid research is the development of a humanoid capable of performing useful tasks in unknown or unpredictable environments. To address the complexities of this task,...
Exploiting redundancy to implement multi-objective behavior (2003)
Yuandong Yang, Oliver Brock, Roderic A. Grupen
Teams of robots can be redundant with respect to a given task. This redundancy can be exploited to pursue additional objectives during the execution of the task. In this paper, we describe a...
A Framework For Humanoid Control and Intelligence (2003)
Robert Platt, Oliver Brock, Andrew H. Fagg, Deepak Karupiah, Jefferson Coelho, Manfred Huber, ...
Abstract. One of the goals of humanoid robotics research is the development of a humanoid capable of performing useful tasks in unknown or unpredictable environments. To address the complexities of...
Task-consistent obstacle avoidance and motion behavior for mobile manipulation (2002)
Oliver Brock, Oussama Khatib, Sriram Viji
Applications in mobile manipulation require sophisticated motion execution skills to address issues like redundancy resolution, reactive obstacle avoidance, and transitioning between different motion...
Task-consistent obstacle avoidance and motion behavior for mobile manipulation (2002)
Oliver Brock, Oussama Khatib, Sriram Viji
Applications in mobile manipulation require sophisticated motion execution skills to address issues like redundancy resolution, reactive obstacle avoidance, and transitioning between dierent motion...
Task-consistent obstacle avoidance and motion behavior for mobile manipulation (2002)
Oliver Brock, Oussaina Khatib, Srirain Viji
Applications in mobile manipulation require sophisti-cated motion execution skills to address issues like re-dundancy resolution, reactive obstacle avoidance, and transitioning between diflerent...
Oliver Brock, Lydia E. Kavraki
Abstract Research in motion planning has been striving to develop faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion...
Oliver Brock, Lydia E. Kavraki
Research in motion planning has been striving to develop faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion planning...
Oliver Brock, Lydia E. Kavraki
Research in motion planning has been striving to develop faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion planning...
Oliver Brock, Lydia E. Kavraki
Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion...
Real-time replanning in high-dimensional configuration spaces using sets of homotopic paths (2000)
Real-time replanning is a prerequisite for motion execution in unpredictably changing environments. This paper presents a framework that allows real-time replanning in high-dimensional conguration...
Towards real-time motion planning in high-dimensional spaces (2000)
Oliver Brock, Lydia E. Kavraki
Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion...
Oliver Brock, Lydia E. Kavraki
Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion...
Real-Time Replanning in High-Dimensional Configuration Spaces Using Sets of Homotopic Paths (2000)
Real-time replanning is a prerequisite for motion execution in unpredictably changing environments. This paper presents a framework that allows real-time replanning in high-dimensional con guration...
Integrated Planning And Execution: Elastic Strips (2000)
Maui Hawaii, Oliver Brock, Oliver Brock, Oussama Khatib, Oussama Khatib
Real-time replanning is a prerequisite for motion execution in unpredictably changing environments. This paper presents a framework that allows real-time replanning in high-dimensional configuration...
Oliver Brock, Lydia E. Kavraki
Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion...
Oliver Brock, Lydia E. Kavraki
Abstract Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time...
Towards real-time motion planning in high-dimensional spaces (2000)
Oliver Brock, Lydia E. Kavraki
Abstract Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time...
Real-time replanning in high-dimensional configuration spaces using sets of homotopic paths (2000)
Real-time replanning is a prerequisite for motion exe-cution in unpredictably changing environments. This paper presents a framework that allows real-time re-planning in high-dimensional...
High-Speed Navigation Using the Global Dynamic Window Approach (1999)
Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static...
Elastic Strips: A Framework for Integrated Planning and Execution (1999)
: The execution of robotic tasks in dynamic, unstructured environments requires the generation of motion plans that respect global constraints imposed by the task while avoiding collisions with...
Real-Time Obstacle Avoidance and Motion Coordination in a Multi-Robot Workcell (1999)
To exploit the potential benet of multi-robot workcells, powerful motion planning and motion execution paradigms are necessary. The novel framework of elastic strips allows real-time obstacle...
Generating robot motion: the integration of planning and execution / (1999)
Submitted to the Department of Computer Science.
Exploiting Redundancy to Implement Multi-Objective Behavior (1998)
Yang, Yuandong, Brock, Oliver, Grupen, Roderic A.
Teams of robots can be redundant with respect to a given task. This redundancy can be exploited to pursue additional objectives during the execution of the task. in this paper, the authors describe a...
Executing Motion Plans for Robots with Many Degrees of Freedom in Dynamic Environments (1998)
In many robotic applications motions must be executed robustly in dynamic and partially unknown environments. Despite this requirement most motion planning algorithms assume the environment to be...
Mobile Manipulation: Collision-Free Path Modification and Motion Coordination (1998)
In many robotic applications motions must be executed robustly in dynamic and partially unknown environments. Despite this requirement most motion planning algorithms assume the environment to be...
Elastic Strips: Real-Time Path Modification for Mobile Manipulation (1997)
The elastic strip framework presented in this paper is a new approach to real-time obstacle avoidance for robots with many degrees of freedom. The avoidance behavior can be integrated with task...
Evolving Reusable Subroutines for Genetic Programming (1994)
Although automatically defined functions (ADFs) are able to significantly reduce the computational effort required in genetic programming, reasonably difficult problems still require large amounts of...
Human-centered robotics and interactive haptic simulation (1992)
Oussama Khatib, Oliver Brock, Kyong-sok Chang, Diego Ruspini, Luis Sentis, Sriram Viji
A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant. They are making their way into the everyday world that...