38 citations · 116 across the 17 of their papers we have counts for
6 papers · 1 filter
Data-Driven Optimization for Deposition with Degradable Tools
Tony Zheng, Monimoy Bujarbaruah, Francesco Borrelli
We present a data-driven optimization approach for robotic controlled deposition with a degradable tool. Existing methods make the assumption that the tool tip is not changing or i…
Safe Human-Robot Collaborative Transportation via Trust-Driven Role Adaptation
Tony Zheng, Monimoy Bujarbaruah, Yvonne R. Stürz +1
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoi…
Learning Environment Constraints in Collaborative Robotics: A Decentralized Leader-Follower Approach
Monimoy Bujarbaruah, Yvonne R. Stürz, Conrad Holda +2
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots…
Traction Adaptive Motion Planning at the Limits of Handling
Lars Svensson, Monimoy Bujarbaruah, Arpit Karsolia +2
In this paper, we address the problem of motion planning and control at the limits of handling, under locally varying traction conditions. We propose a novel solution method where…
Learning to Play Cup-and-Ball with Noisy Camera Observations
Monimoy Bujarbaruah, Tony Zheng, Akhil Shetty +2
Playing the cup-and-ball game is an intriguing task for robotics research since it abstracts important problem characteristics including system nonlinearity, contact forces and pre…
Adaptive Trajectory Planning and Optimization at Limits of Handling
Lars Svensson, Monimoy Bujarbaruah, Nitin Kapania +1
In this paper, we tackle the problem of trajectory planning and control of a vehicle under locally varying traction limitations, in the presence of suddenly appearing obstacles. We…