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The open motion planning library (OMPL) is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that it allows the user to easily solve a variety of complex motion planning problems with minimal input. OMPL facilitates the addition of new motion(More)
The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high(More)
Self-reconfigurable robots are modular robots that can autonomously change their shape and size to meet specific operational demands. Recently, there has been a great interest in using self-reconfigurable robots in applications such as reconnaissance, rescue missions, and space applications. Designing and controlling self-reconfigurable robots is a(More)
We present a new approach to path planning for deformable linear (one-dimensional) objects such as flexible wires. We introduce a method for efficiently computing stable configurations of a wire subject to manipulation constraints. These configurations correspond to minimal-energy curves. By restricting the planner to minimal-energy curves, the execution of(More)
The definition of reaction coordinates for the characterization of a protein-folding reaction has long been a controversial issue, even for the "simple" case in which one single free-energy barrier separates the folded and unfolded ensemble. We propose a general approach to this problem to obtain a few collective coordinates by using nonlinear(More)
We present an algorithm that seeks to find a set of diverse, short paths through a roadmap graph. The usefulness of a such a set is illustrated in robotic motion planning and routing applications wherein a precomputed roadmap of the environment is partially invalidated by some change, for example, relocation of obstacles or reconfiguration of the robot. Our(More)
BACKGROUND There is an increasing number of proteins with known structure but unknown function. Determining their function would have a significant impact on understanding diseases and designing new therapeutics. However, experimental protein function determination is expensive and very time-consuming. Computational methods can facilitate function(More)
Human episodic memory provides a seemingly unlimited storage for everyday experiences, and a retrieval system that allows us to access the experiences with partial activation of their components. The system is believed to consist of a fast, temporary storage in the hippocampus, and a slow, long-term storage within the neocortex. This paper presents a neural(More)
For assembly tasks parts often have to be oriented before they can be put in an assembly. The results presented in this paper are a component of the automated design of parts orienting devices. The focus is on orienting parts with minimal sensing and manipulation. We present a new approach to parts orienting through the manipulation of pose distributions.(More)
BACKGROUND Many proteins undergo extensive conformational changes as part of their functionality. Tracing these changes is important for understanding the way these proteins function. Traditional biophysics-based conformational search methods require a large number of calculations and are hard to apply to large-scale conformational motions. RESULTS In(More)