Publications (21)
Multi-CAP: A Multi-Robot Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments
Zongyuan Shen, Burhanuddin Shirose, Prasanna Sriganesh +3
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reduc…
Action-Informed Estimation and Planning: Clearing Clutter on Staircases via Quadrupedal Pedipulation
Prasanna Sriganesh, Barath Satheeshkumar, Anushree Sabnis +1
For robots to operate autonomously in densely cluttered environments, they must reason about and potentially physically interact with obstacles to clear a path. Safely clearing a p…
State Estimation for Legged Robots Using Contact-Centric Leg Odometry
Shuo Yang, Hans Kumar, Zhaoyuan Gu +3
Our goal is to send legged robots into challenging, unstructured terrains that wheeled systems cannot traverse. Moreover, precise estimation of the robot's position and orientation…
CAP: A Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments using Coverage Guidance Graph
Zongyuan Shen, Burhanuddin Shirose, Prasanna Sriganesh +1
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hi…
Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller
Shuo Yang, Zhaoyuan Gu, Ruohai Ge +3
This paper reports the design and implementation of a three-link brachiation robot. The robot is able to travel along horizontal monkey bars using continuous arm swings. We build a…
Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots
Prasanna Sriganesh, Namya Bagree, Bhaskar Vundurthy +1
Robotic systems need advanced mobility capabilities to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some le…
Longitudinal Control Volumes: A Novel Centralized Estimation and Control Framework for Distributed Multi-Agent Sorting Systems
James Maier, Prasanna Sriganesh, Matthew Travers
Centralized control of a multi-agent system improves upon distributed control especially when multiple agents share a common task e.g., sorting different materials in a recycling f…
Reconstruction of Backbone Curves for Snake Robots
Tianyu Wang, Bo Lin, Baxi Chong +5
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In m…
The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media
Blake Buchanan, Tony Dear, Scott Kelly +2
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion,…
Stability and Control of Chaplygin Beanies Coupled to a Platform through Nonholonomic Constraints
Blake Buchanan, Matthew Travers, Howie Choset +1
Many multi-agent systems in nature are comprised of agents that interact with, and respond to, the dynamics of their environment. In this paper, we approach the study of such agent…
Directional Compliance in Obstacle-Aided Navigation for Snake Robots
Tianyu Wang, Julian Whitman, Matthew Travers +1
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordin…
Distributed Optimal Control Framework for High-Speed Convoys: Theory and Hardware Results
Namya Bagree, Charles Noren, Damanpreet Singh +2
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they…
Sidewinding with minimal slip: Snake and robot ascent of sandy slopes
Hamidreza Marvi, Chaohui Gong, Nick Gravish +7
Limbless organisms such as snakes can navigate nearly all terrain. In particular, desert-dwelling sidewinder rattlesnakes (Crotalus cerastes) operate effectively on inclined granul…
Trajectory Generation for Millimeter Scale Ferromagnetic Swimmers: Theory and Experiments
Jaskaran Grover, Daniel Vedova, Nalini Jain +3
Microrobots have the potential to impact many areas such as microsurgery, micromanipulation and minimally invasive sensing. Due to their small size, microrobots swim in a regime th…
Modular, Resilient, and Scalable System Design Approaches -- Lessons learned in the years after DARPA Subterranean Challenge
Prasanna Sriganesh, James Maier, Adam Johnson +7
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficultie…
RGB-X Classification for Electronics Sorting
FNU Abhimanyu, Tejas Zodage, Umesh Thillaivasan +8
Effectively disassembling and recovering materials from waste electrical and electronic equipment (WEEE) is a critical step in moving global supply chains from carbon-intensive, mi…
A Bayesian Modeling Framework for Estimation and Ground Segmentation of Cluttered Staircases
Prasanna Sriganesh, Burhanuddin Shirose, Matthew Travers
Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncer…
Predicting Nanorobot Shapes via Generative Models
Emma Benjaminson, Rebecca E. Taylor, Matthew Travers
The field of DNA nanotechnology has made it possible to assemble, with high yields, different structures that have actionable properties. For example, researchers have created comp…
Optimal Control for Structurally Sparse Systems using Graphical Inference
Roshan Pradhan, Shuo Yang, Frank Dellaert +2
Dynamical systems with a distributed yet interconnected structure, like multi-rigid-body robots or large-scale multi-agent systems, introduce valuable sparsity into the system dyna…
Learning Modular Robot Control Policies
Julian Whitman, Matthew Travers, Howie Choset
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just…
Learning to Sequence Robot Behaviors for Visual Navigation
Hadi Salman, Puneet Singhal, Tanmay Shankar +6
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such b…