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Bibliographic Details
Main Authors:	Natarajan, Ramkumar, Johnston, Garrison L. H., Simaan, Nabil, Likhachev, Maxim, Choset, Howie
Format:	Preprint
Published:	2022
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2210.08627
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Implicit Graph Search for Planning on Graphs of Convex Sets
by: Natarajan, Ramkumar, et al.
Published: (2024)

A-MHA*: Anytime Multi-Heuristic A*
by: Natarajan, Ramkumar, et al.
Published: (2025)

A Modal-Space Formulation for Momentum Observer Contact Estimation and Effects of Uncertainty for Continuum Robots
by: Johnston, Garrison L. H., et al.
Published: (2025)

Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator
by: Natarajan, Ramkumar, et al.
Published: (2024)

SRMP: Search-Based Robot Motion Planning Library
by: Mishani, Itamar, et al.
Published: (2025)

Think Fast: Real-Time Kinodynamic Belief-Space Planning for Projectile Interception
by: Olin, Gabriel, et al.
Published: (2025)

Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations
by: Orekhov, Andrew L., et al.
Published: (2023)

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
by: Johnston, Garrison L. H., et al.
Published: (2023)

Design Considerations for 3RRR Parallel Robots with Lightweight, Approximate Static-Balancing
by: Del Giudice, Giuseppe, et al.
Published: (2023)

A Feasibility Study of a Soft, Low-Cost, 6-Axis Load Cell for Haptics
by: Veliky, Madison, et al.
Published: (2024)

MOSAIC: A Skill-Centric Algorithmic Framework for Long-Horizon Manipulation Planning
by: Mishani, Itamar, et al.
Published: (2025)

Multi Graph Search for High-Dimensional Robot Motion Planning
by: Mishani, Itamar, et al.
Published: (2026)

Optimizing Start Locations in Ergodic Search for Disaster Response
by: Rao, Ananya, et al.
Published: (2025)

Learning Local Heuristics for Search-Based Navigation Planning
by: Veerapaneni, Rishi, et al.
Published: (2023)

RPT*: Global Planning with Probabilistic Terminals for Target Search in Complex Environments
by: Lyu, Yunpeng, et al.
Published: (2026)

Characterization of Constraints in Flexible Unknown Environments
by: Bhattacharyya, Samrat, et al.
Published: (2026)

A Contact-Driven Framework for Manipulating in the Blind
by: Saleem, Muhammad Suhail, et al.
Published: (2025)

Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences
by: Shaoul, Yorai, et al.
Published: (2024)

Constant-Time Motion Planning with Manipulation Behaviors
by: Gandotra, Nayesha, et al.
Published: (2025)

Constant-time Motion Planning with Anytime Refinement for Manipulation
by: Mishani, Itamar, et al.
Published: (2023)

Endovascular Detection of Catheter-Thrombus Contact by Vacuum Excitation
by: Lawson, Jared, et al.
Published: (2024)

Heuristic Search for Path Finding with Refuelling
by: Zhao, Shizhe, et al.
Published: (2023)

Lazy Heuristic Search for Solving POMDPs with Expensive-to-Compute Belief Transitions
by: Saleem, Muhammad Suhail, et al.
Published: (2025)

Optimal Solutions for the Moving Target Vehicle Routing Problem via Branch-and-Price with Relaxed Continuity
by: Bhat, Anoop, et al.
Published: (2026)

Measure Preserving Flows for Ergodic Search in Convoluted Environments
by: Xu, Albert, et al.
Published: (2024)

Exploring Accelerated Skill Acquisition via Tandem Training for Colonoscopy
by: Richards, Olivia, et al.
Published: (2025)

Assigning Credit with Partial Reward Decoupling in Multi-Agent Proximal Policy Optimization
by: Kapoor, Aditya, et al.
Published: (2024)

Multi-Agent Ergodic Exploration under Smoke-Based, Time-Varying Sensor Visibility Constraints
by: Wittemyer, Elena, et al.
Published: (2025)

From Space-Time to Space-Order: Directly Planning a Temporal Planning Graph by Redefining CBS
by: Wu, Yu, et al.
Published: (2024)

Multi-CAP: A Multi-Robot Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments
by: Shen, Zongyuan, et al.
Published: (2025)

Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers
by: Lawson, Jared, et al.
Published: (2025)

Propagative Distance Optimization for Constrained Inverse Kinematics
by: Chen, Yu, et al.
Published: (2024)

DMS*: Minimizing Makespan for Multi-Agent Combinatorial Path Finding
by: Ren, Zhongqiang, et al.
Published: (2023)

A Mixed-Integer Conic Program for the Multi-Agent Moving-Target Traveling Salesman Problem
by: Philip, Allen George, et al.
Published: (2025)

Parallel Heuristic Search as Inference for Actor-Critic Reinforcement Learning Models
by: Yang, Hanlan, et al.
Published: (2025)

Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement
by: Saha, Kallol, et al.
Published: (2025)

Bag-of-Word-Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing
by: Fei, Xiang, et al.
Published: (2025)

Ergodic Exploration over Meshable Surfaces
by: Dong, Dayi, et al.
Published: (2025)

C*: A New Bounding Approach for the Moving-Target Traveling Salesman Problem
by: Philip, Allen George, et al.
Published: (2023)

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// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

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