28 citations · 75 across the 35 of their papers we have counts for
46 papers · 1 filter
Accelerating Mixed Discrete-Continuous Motion Planning via Neural Graphs of Convex Sets
Ananya Trivedi, Sarvesh Prajapati, Mohamed Khalid M Jaffar +3
Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formulated as optimization problems that couple discrete decisions with co…
Layered Risk Mapping for Autonomous Patient Transport in Expeditionary Medical Facilities
Lorena Maria Genua, Sarvesh Prajapati, Damla Leblebicioglu +1
In expeditionary medical facilities, routine patient transport imposes a compounding burden of personal protective equipment consumption, staff diversion, and elevated infection ri…
Socially-Aware Autonomous Doorway Traversal and Payload Delivery for Emergency Assistance
Andrew Snowdy, Ananya Trivedi, Sarvesh Prajapati +2
In this work, we focus on the scenario of a robot-assisted emergency evacuation. We consider two capabilities relevant to such a setting. The first is opening doors ahead of the pe…
TACTFUL: Tactile-Driven Exploration For Object Localization and Identification in Confined Environments
Shivani Kamtikar, Chung Hee Kim, Camilla Tabasso +3
Humans effortlessly locate and identify objects by touch alone, even without vision. In contrast, robotic systems rely heavily on vision and struggle with autonomous tactile explor…
JOIN: Anchor-Grasp-Conditioned Joining via Opposition, Inference, and Navigation for Bimanual Assistive Manipulation
Drake Moore, Matt Cheng, Xiang Zhi Tan +1
Assistive mobility and manipulation platforms have received increasing attention as a means of restoring independence to individuals with disabilities. While effective for many bas…
Grasp, Slide, Roll: Comparative Analysis of Contact Modes for Tactile-Based Shape Reconstruction
Chung Hee Kim, Shivani Kamtikar, Tye Brady +2
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acqui…