3 papers
cs.RO2025
Trajectory Tracking for Multi-Manipulator Systems in Constrained Environments
Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal t…
cs.RO2024
Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning with Path Constraints
Rufus Cheuk Yin Wong, Mayank Sewlia, Adrian Wiltz +1
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot…
cs.RO2023
MAPS: Multi-Robot Autonomous Motion Planning under Signal Temporal Logic Specifications
Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
This article presents MAPS : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical co…