Benjamin J. Cohen

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Path planning quickly becomes computationally hard as the dimensionality of the state-space increases. In this paper, we present a planning algorithm intended to speed up path planning for high-dimensional state-spaces such as robotic arms. The idea behind this work is that while planning in a highdimensional state-space is often necessary to ensure the(More)
One of the most important developments in the world economy during the past three decades has been the willingness of governments in emerging markets to liberalize controls over international capital movements—a process known as capital account liberalization+ What accounts for this trend? While existing research highlights a number of important factors, it(More)
No part of this working paper may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying, recording, or by information storage or retrieval system, without permission from the Institute. Abstract Th is paper examines the exchange rate regimes of East Asian countries since the initial shift by China to a(More)
This study tries to find which EU member states and candidate countries can sustain a currency link among them. I use Bayoumi and Eichengreen's procedure of two-step least squares cross-section regression analysis for estimating exchange rate variation among 26 European countries, integrating domestic political factors into an Optimal Currency Area analysis(More)
— Heuristic searches such as A* search are highly popular means of finding least-cost plans due to their generality, strong theoretical guarantees on completeness and optimality and simplicity in the implementation. In planning for robotic manipulation however, these techniques are commonly thought of as impractical due to the high-dimensionality of the(More)
— In this paper, we present a search-based motion planning algorithm for manipulation that handles the high dimensionality of the problem and minimizes the limitations associated with employing a strict set of pre-defined actions. Our approach employs a set of adaptive motion primitives comprised of static motions with variable dimensionality and on-the-fly(More)
— Dual-arm manipulation is an increasingly important skill for robots operating in home, retail and industrial environments. Dual-arm manipulation is especially essential for tasks involving large objects which are harder to grasp and manipulate using a single arm. In this work, we address dual-arm manipulation of objects in indoor environments. We are(More)
—Human environments possess a significant amount of underlying structure that is under-utilized in motion planning and mobile manipulation. In domestic environments for example, walls and shelves are static, large objects such as furniture and kitchen appliances most of the time do not move and do not change, and objects are typically placed on a limited(More)
— Computing a motion that enables a mobile manip-ulator to open a door is challenging because it requires tight coordination between the motions of the arm and the base. Hard-coding the motion, on the other hand, is infeasible since doors vary widely in their sizes and types, some doors are opened by pulling and others by pushing, and indoor spaces often(More)
— Randomized planners, search-based planners, potential-field approaches and trajectory optimization based motion planners are just some of the types of approaches that have been developed for motion planning. Given a motion planning problem, choosing the appropriate algorithm to use is a daunting task even for experts since there has been relatively little(More)