15 citations · 27 across the 6 of their papers we have counts for
7 papers
RL-based Variable Horizon Model Predictive Control of Multi-Robot Systems using Versatile On-Demand Collision Avoidance
Shreyash Gupta, Abhinav Kumar, Niladri S. Tripathy +1
Multi-robot systems have become very popular in recent years because of their wide spectrum of applications, ranging from surveillance to cooperative payload transportation. Model…
Learning Vision-based Robotic Manipulation Tasks Sequentially in Offline Reinforcement Learning Settings
Sudhir Pratap Yadav, Rajendra Nagar, Suril V. Shah
With the rise of deep reinforcement learning (RL) methods, many complex robotic manipulation tasks are being solved. However, harnessing the full power of deep learning requires la…
qRRT: Quality-Biased Incremental RRT for Optimal Motion Planning in Non-Holonomic Systems
Nahas Pareekutty, Francis James, Balaraman Ravindran +1
This paper presents a sampling-based method for optimal motion planning in non-holonomic systems in the absence of known cost functions. It uses the principle of learning through e…
Student Mixture Model Based Visual Servoing
Mithun. P, Shaunak A. Mehta, Suril V. Shah +2
Classical Image-Based Visual Servoing (IBVS) makes use of geometric image features like point, straight line and image moments to control a robotic system. Robust extraction and re…
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…
Momentum Model-based Minimal Parameter Identification of a Space Robot
B. Naveen, Suril V. Shah, Arun K. Misra
Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is…
Design of a Robust Stair Climbing Compliant Modular Robot to Tackle Overhang on Stairs
Ajinkya Bhole, Sri Harsha Turlapati, Rajashekhar V. S +3
This paper discusses the concept and parameter design of a Robust Stair Climbing Compliant Modular Robot, capable of tackling stairs with overhangs. Modifying the geometry of the p…