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cs.RO2024
Improving Zero-Shot ObjectNav with Generative Communication
Vishnu Sashank Dorbala, Vishnu Dutt Sharma, Pratap Tokekar +1
We propose a new method for improving zero-shot ObjectNav that aims to utilize potentially available environmental percepts for navigational assistance. Our approach takes into acc…
cs.RO2022
D2CoPlan: A Differentiable Decentralized Planner for Multi-Robot Coverage
Vishnu Dutt Sharma, Lifeng Zhou, Pratap Tokekar
Centralized approaches for multi-robot coverage planning problems suffer from the lack of scalability. Learning-based distributed algorithms provide a scalable avenue in addition t…
cs.RO2020
Risk-Aware Planning and Assignment for Ground Vehicles using Uncertain Perception from Aerial Vehicles
Vishnu D. Sharma, Maymoonah Toubeh, Lifeng Zhou +1
We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios…