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cs.RO2026
Safe Multi-Robot Collaborative Transport Using Density Functions
Jagannath Prasad Sahoo, Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents a hierarchical density-based model predictive control framework for safe collaborative manipulation by multiple quadrupedal robots. The framework enables a team…
math.DS2026
Spectral Koopman Approach for Reconstructing State-space Geometry of Cislunar Restricted 3-Body Problem
Subhrajit Sinha, Sriram S. K. S. Narayanan, Raktim Bhattacharya +1
In this work, we propose a novel approach, based on the path integral formulation of Koopman spectrum, to discover the phase-space geometry of the planar Cislunar Restricted 3 Body…