2 citations · 2 across the 12 of their papers we have counts for
12 papers
G-MAPP: GPU-accelerated Multi-Agent Planning and Perception for Reactive Motion Generation
Tanmay Bishnoi, Riddhiman Laha, Tobias Löw +3
Reactive motion generation in unstructured environments remains an open challenge in robotics. Due to the computational complexity of collision-free motion generation, existing met…
Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator
Joel Ramadani, Vasilije Rakčević, Riddhiman Laha +4
Non-prehensile object manipulation skills are important for real-world robot interactions, enabling highly dynamic tasks such as balancing a glass on a tray or the controlled slidi…
Coupling Tensor Trains with Graph of Convex Sets: Effective Compression, Exploration, and Planning in the C-Space
Gerhard Reinerth, Riddhiman Laha, Marcello Romano
We present TANGO (Tensor ANd Graph Optimization), a novel motion planning framework that integrates tensor-based compression with structured graph optimization to enable efficient…
A Unified Complementarity-based Approach for Rigid-Body Manipulation and Motion Prediction
Bingkun Huang, Xin Ma, Nilanjan Chakraborty +1
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (loca…
GeoPF: Infusing Geometry into Potential Fields for Reactive Planning in Non-trivial Environments
Yuhe Gong, Riddhiman Laha, Luis Figueredo
Reactive intelligence remains one of the cornerstones of versatile robotics operating in cluttered, dynamic, and human-centred environments. Among reactive approaches, potential fi…
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny +2
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have…
GIFT: Geometry-Induced Functional Transfer for Category-level Object Manipulation
Cristiana de Farias, Luis Figueredo, Riddhiman Laha +5
Robotic manipulation of unfamiliar objects in new environments is challenging due to limited generalisation capabilities. We propose a new skill transfer framework, GIFT (Geometry-…
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
Haowen Yao, Riddhiman Laha, Anirban Sinha +4
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with c…
A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts
Dasharadhan Mahalingam, Aditya Patankar, Riddhiman Laha +3
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due t…
Geometric Slosh-Free Tracking for Robotic Manipulators
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha +3
This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific…
A Solution to Slosh-free Robot Trajectory Optimization
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo +1
This paper is about fast slosh free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model t…
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees
Riddhiman Laha, Ruiai Sun, Wenxi Wu +4
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement…