Author

Thomas Cohn

2 papers indexed here

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

Preprint Sep 2026

ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization

Robots often must satisfy one or more constraints during motion planning for real-world tasks. When such constraints reduce the valid configuration space to a measure-zero subset, sampling based planning algorithms require modifications to draw feasible samples. For many common end-effector constraints, parameterizatio...

S. R. Iyer, Thomas Cohn, Zachary Kingston · 0 citations

Preprint Sep 2026

Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers

Planning trajectories for robot manipulators under kinematic equality constraints restricts feasible motions to a measure-zero submanifold of the configuration space, requiring special algorithmic treatment. A promising strategy is parametrizing the set of feasible configurations using analytic inverse kinematics (IK)....

Thomas Cohn, Seiji Shaw, Harel Biggie et al. · 2 citations