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cs.RO2026
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…
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…
cs.RO2026
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…