2 citations · 3 across the 11 of their papers we have counts for
11 papers
BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes
Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne +5
We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interpret…
VLPG-Nav: Object Navigation Using Visual Language Pose Graph and Object Localization Probability Maps
Senthil Hariharan Arul, Dhruva Kumar, Vivek Sugirtharaj +6
We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating th…
DS-MPEPC: Safe and Deadlock-Avoiding Robot Navigation in Cluttered Dynamic Scenes
Senthil Hariharan Arul, Jong Jin Park, Dinesh Manocha
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation…
DMCA: Dense Multi-agent Navigation using Attention and Communication
Senthil Hariharan Arul, Amrit Singh Bedi, Dinesh Manocha
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on…
Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning
Senthil Hariharan Arul, Dinesh Manocha
We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a…
V-RVO: Decentralized Multi-Agent Collision Avoidance using Voronoi Diagrams and Reciprocal Velocity Obstacles
Senthil Hariharan Arul, Dinesh Manocha
We present a decentralized collision avoidance method for dense environments that is based on buffered Voronoi cells (BVC) and reciprocal velocity obstacles (RVO). Our approach is…
SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms under Uncertainty
Senthil Hariharan Arul, Dinesh Manocha
We present decentralized collision avoidance algorithms for quadrotor swarms operating under uncertain state estimation. Our approach exploits the differential flatness property an…
Multi-Agent Coverage in Urban Environments
Shivang Patel, Senthil Hariharan, Pranav Dhulipala +4
We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cam…
3D-OGSE: Online Safe and Smooth Trajectory Generation using Generalized Shape Expansion in Unknown 3-D Environments
Vrushabh Zinage, Senthil Hariharan Arul, Dinesh Manocha +1
In this paper, we present an online motion planning algorithm (3D-OGSE) for generating smooth, collision-free trajectories over multiple planning iterations for 3-D agents operatin…
DCAD: Decentralized Collision Avoidance with Dynamics Constraints for Agile Quadrotor Swarms
Senthil Hariharan Arul, Dinesh Manocha
We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorith…
LSwarm: Efficient Collision Avoidance for Large Swarms with Coverage Constraints in Complex Urban Scenes
Senthil Hariharan Arul, Adarsh Jagan Sathyamoorthy, Shivang Patel +4
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids co…