5 citations · 8 across the 8 of their papers we have counts for
8 papers
Scout-Assisted Planning for Heterogeneous Robot Teams under Partially Known Environments
Hoang-Dung Bui, Abhish Khanal, Raihan Islam Arnob +1
Autonomous robot teams navigating partially known environments face costly backtracking when ground robots encounter blocked roads that are only revealed upon physical traversal. W…
Multi-Robot Learning-Informed Task Planning Under Uncertainty
Abhish Khanal, Abhishek Paudel, Hung Pham +1
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over l…
Object Search in Partially-Known Environments via LLM-informed Model-based Planning and Prompt Selection
Abhishek Paudel, Abhish Khanal, Raihan I. Arnob +2
We present a novel LLM-informed model-based planning framework, and a novel prompt selection method, for object search in partially-known environments. Our approach uses an LLM to…
Learning-Augmented Model-Based Multi-Robot Planning for Time-Critical Search and Inspection Under Uncertainty
Abhish Khanal, Joseph Prince Mathew, Cameron Nowzari +1
In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or of…
Guided Sampling-Based Motion Planning with Dynamics in Unknown Environments
Abhish Khanal, Hoang-Dung Bui, Gregory J. Stein +1
Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments rema…
Learning Augmented, Multi-Robot Long-Horizon Navigation in Partially Mapped Environments
Abhish Khanal, Gregory J. Stein
We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of…
RRT and RRT* Using Vehicle Dynamics
Abhish Khanal
The trajectory derived from RRT and RRT* is zagged. A holonomic drive is able to follow this trajectory. But real-life vehicle which has dynamical constraints cannot follow this tr…
Search Disaster Victims using Sound Source Localization
Abhish Khanal, Deepak Chand, Prakash Chaudhary +4
Sound Source Localization (SSL) are used to estimate the position of sound sources. Various methods have been used for detecting sound and its localization. This paper presents a s…