58 citations · 118 across the 10 of their papers we have counts for
6 papers · 1 filter
AirCapRL: Autonomous Aerial Human Motion Capture using Deep Reinforcement Learning
Rahul Tallamraju, Nitin Saini, Elia Bonetto +4
In this letter, we introduce a deep reinforcement learning (RL) based multi-robot formation controller for the task of autonomous aerial human motion capture (MoCap). We focus on v…
Energy Conscious Over-actuated Multi-Agent Payload Transport Robot: Simulations and Preliminary Physical Validation
Rahul Tallamraju, Pulkit Verma, Venkatesh Sripada +2
In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not co…
Loosely Coupled Payload Transport System with Robot Replacement
Pulkit Verma, Rahul Tallamraju, Abhay Rawat +2
In this work, we present an algorithm for robot replacement to increase the operational time of a multi-robot payload transport system. Our system comprises a group of nonholonomic…
Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems
Rahul Tallamraju, Durgesh Haribhau Salunkhe, Sujit Rajappa +3
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision…
Active Perception based Formation Control for Multiple Aerial Vehicles
Rahul Tallamraju, Eric Price, Roman Ludwig +4
Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time w…
Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios
Rahul Tallamraju, Sujit Rajappa, Michael Black +2
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algor…