Probabilistic Motion Planning for Redundant Robots
Robot Motion Planning
Selected project · Sep – Dec 2025
Advisor: Prof. Dmitry Berenson
Benchmarking sampling-based planners on a simulated 7-DOF Franka Panda.
My contributions
- Reproduced and benchmarked RRT-Connect and PRM in simulation.
- Implemented a hybrid sampling strategy that reduced trajectory generation latency by approximately 75%.