Jaillet, Leonard Georges
Total activity: 8
Research group
ROBiri - IRI Robotics Group
Institute
Institute of Robotics and Industrial Informatics
E-mail
ljailletiri.upc.edu
Contact details
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Scientific and technological production
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1 to 8 of 8 results
  • Exploring the energy landscapes of flexible molecular loops using higher-dimensional continuation

     Porta Pleite, Josep M.; Jaillet, Leonard Georges
    Journal of computational chemistry
    Date of publication: 2013
    Journal article

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  • Path planning under kinematic constraints by rapidly exploring manifolds

     Jaillet, Leonard Georges; Porta Pleite, Josep M.
    IEEE transactions on robotics
    Date of publication: 2013
    Journal article

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    The situation arising in path planning under kinematic constraints, where the valid configurations define a manifold embedded in the joint ambient space, can be seen as a limit case of the well-known narrow corridor problem. With kinematic constraints, the probability of obtaining a valid configuration by sampling in the joint ambient space is not low but null, which complicates the direct application of sampling-based path planners. This paper presents the AtlasRRT algorithm, which is a planner especially tailored for such constrained systems that builds on recently developed tools for higher-dimensional continuation. These tools provide procedures to define charts that locally parametrize a manifold and to coordinate the charts, forming an atlas that fully covers it. AtlasRRT simultaneously builds an atlas and a bidirectional rapidly exploring random tree (RRT), using the atlas to sample configurations and to grow the branches of the RRTs, and the RRTs to devise directions of expansion for the atlas. The efficiency of AtlasRRT is evaluated in several benchmarks involving high-dimensional manifolds embedded in large ambient spaces. The results show that the combined use of the atlas and the RRTs produces a more rapid exploration of the configuration space manifolds than existing approaches.

  • Asymptotically-optimal path planning on manifolds

     Jaillet, Leonard Georges; Porta Pleite, Josep M.
    Robotics: Science and Systems
    Presentation's date: 2012
    Presentation of work at congresses

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  • Randomized path planning on manifolds based on higher-dimensional continuation

     Porta Pleite, Josep M.; Jaillet, Leonard Georges; Bohigas Nadal, Oriol
    International journal of robotics research
    Date of publication: 2012
    Journal article

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  • EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles

     Jaillet, Leonard Georges; Hoffman, Judy; van den Berg, Jur; Abbeel, Pieter; Porta Pleite, Josep M.; Goldberg, Ken
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    Presentation's date: 2011
    Presentation of work at congresses

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  • Access to the full text
    Randomized tree construction algorithm to explore energy landscapes  Open access

     Jaillet, Leonard Georges; Corcho Sanchez, Francisco Jose; Perez Gonzalez, Juan Jesus; Cortés, Juan
    Journal of computational chemistry
    Date of publication: 2011-12
    Journal article

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    We report in the present work a new method for exploring conformational energy landscapes. The method, called T-RRT, combines ideas from statistical physics and robot path planning algorithms. A search tree is constructed on the conformational space starting from a given state. The tree expansion is driven by a double strategy: on the one hand, it is naturally biased towards yet unexplored regions of the space; on the other, a Monte Carlo-like transition test guides the expansion toward energetically favorable regions. The balance between these two strategies is automatically achieved thanks to a self-tuning mechanism. The method is able to efficiently find both, energy minima and transition paths between them. As a proof of concept, the method is applied to two academic benchmarks and to the alanine dipeptide.

    Postprint (author’s final draft)

  • Path planning on manifolds using randomized higher-dimensional continuation

     Porta Pleite, Josep M.; Jaillet, Leonard Georges
    International Workshop on the Algorithmic Foundations of Robotics
    Presentation's date: 2010
    Presentation of work at congresses

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    Sampling-based path planning on configuration-space costmaps  Open access

     Jaillet, Leonard Georges; Cortés, Juan; Simeon, Thierry
    IEEE transactions on robotics
    Date of publication: 2010
    Journal article

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    This paper addresses path planning to consider a cost function defined over the configuration space. The proposed planner computes low-cost paths that follow valleys and saddle points of the configuration-space costmap. It combines the exploratory strength of the Rapidly exploring Random Tree (RRT) algorithm with transition tests used in stochastic optimization methods to accept or to reject new potential states. The planner is analyzed and shown to compute low-cost solutions with respect to a path-quality criterion based on the notion of mechanical work. A large set of experimental results is provided to demonstrate the effectiveness of the method. Current limitations and possible extensions are also discussed.