5 papers
Competitive Task Allocation with Temporal Proposal Windows and Improved Artificial Potential Fields for Dual-Arm Industrial Manipulation
Surya Prakash S. K, Bhuvan Narula, Jagannath Prasad Sahoo +3
Modern industrial automation demands autonomous collaborative systems capable of coordinated manipulation in workspaces with heterogeneous object arrangements. Existing systems rel…
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…
Hierarchical Reinforcement Learning for Collision-Free Locomotion of an Underactuated Biped
Jagannath Prasad Sahoo, Saurabh Kumar, Surya Prakash S. K. +3
A bipedal robot cannot deviate from its path to avoid an obstacle without disturbing its balance, and this coupling is most severe on underactuated platforms such as the biped cons…
Equivalence between the Functional Equation and Vorono\"ı-type summation identities for a class of -Functions
Arindam Roy, Jagannath Sahoo, Akshaa Vatwani
To date, the best methods for estimating the growth of mean values of arithmetic functions rely on the Vorono\"ı summation formula. By noticing a general pattern in the proof of hi…
Higher Order Dualities over Global Function Fields and Weighted Möbius Sums over
Prassanna Nand Jha, Jagannath Sahoo
Alladi's duality identities (1977) provide a fundamental relation between the smallest and the -th largest prime factors of integers. In this paper, we establish Alladi-type dua…