2 citations · 2 across the 5 of their papers we have counts for
4 papers · 1 filter
PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
Kunal S. Narkhede, Abhijeet M. Kulkarni, Guoquan Huang +1
Autonomous robot navigation requires rapid construction of obstacle-points-separated convex regions for trajectory planning. When obstacles are represented as point clouds from LiD…
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control
Kunal S. Narkhede, Dhruv A. Thanki, Abhijeet M. Kulkarni +1
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the s…
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles
Kunal Sanjay Narkhede, Mohamad Shafiee Motahar, Sushant Veer +1
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. W…
A Sequential MPC Approach to Reactive Planning for Bipedal Robots
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki +1
This paper presents a sequential Model Predictive Control (MPC) approach to reactive motion planning for bipedal robots in dynamic environments. The approach relies on a sequential…