- CHOMP: Covariant Hamiltonian Optimization for Motion Planning
Matthew Zucker, Nathan Ratliff, Anca Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher Dellin, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
International Journal of Robotics Research, , May, 2013,
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pdf (7MB) | Copyrighted
- Reinforcement Planning: RL for Optimal Planners
Matthew Zucker and J. Andrew (Drew) Bagnell
IEEE International Conference on Robotics and Automation (ICRA), February, 2012.
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pdf (2MB) | Copyrighted
- An Optimization Approach to Rough Terrain Locomotion
Matthew Zucker, J. Andrew (Drew) Bagnell, Chris Atkeson, and James Kuffner
IEEE Conference on Robotics and Automation, May, 2010.
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pdf (2MB) | Copyrighted
- Learning and Optimization Methods for High Level Planning
Matthew Zucker
doctoral dissertation, tech. report CMU-RI-TR-10-45, Robotics Institute, Carnegie Mellon University, May, 2010
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- Reinforcement Planning: RL for Optimal Planners
Matthew Zucker and J. Andrew (Drew) Bagnell
tech. report CMU-RI-TR-10-14, Robotics Institute, Carnegie Mellon University, April, 2010
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pdf (3MB) | Copyrighted
- CHOMP: Gradient Optimization Techniques for Efficient Motion Planning
Nathan Ratliff, Matthew Zucker, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA), May, 2009.
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pdf (2MB) | Copyrighted
- A Data-Driven Approach to High Level Planning
Matthew Zucker
tech. report CMU-RI-TR-09-42, Robotics Institute, Carnegie Mellon University, January, 2009
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pdf (5MB) | Copyrighted
- Improved Motion Planning Speed and Safety using Regions of Inevitable Collision
Nicholas Chan, James Kuffner, and Matthew Zucker
17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy'08), July, 2008.
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pdf (574KB) | Copyrighted
- Adaptive Workspace Biasing for Sampling Based Planners
Matthew Zucker, James Kuffner, and J. Andrew (Drew) Bagnell
Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008.
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pdf (977KB) | Copyrighted
- Adaptive workspace biasing for sampling-based planners
Matthew Zucker, James Kuffner, and J. Andrew (Drew) Bagnell
April, 2008.
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pdf (977KB) | Copyrighted
- Multipartite RRTs for Rapid Replanning in Dynamic Environments
Matthew Zucker, James Kuffner, and Michael Branicky
Proc. IEEE Int. Conf. Robotics and Automation, April, 2007.
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pdf (456KB) | Copyrighted
- Approximating State-Space Obstacles for Non-Holonomic Motion Planning
Matthew Zucker
tech. report CMU-RI-TR-06-27, Robotics Institute, Carnegie Mellon University, May, 2006
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pdf (173KB) | Copyrighted
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