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cs.RO2026
CAST: Collision-Aware Assembly with Construction Robots using Simultaneous Trajectory Estimation and Planning
Karthik Shaji, Chisung Kim, John D'Amato +2
Multi-robot systems have shown increasing viability in construction due to their ability to execute high-precision actions while reducing human exposure to hazardous tasks. However…
cs.RO2026
Path Integral Particle Filtering for Hybrid Systems via Saltation Matrices
Karthik Shaji, Sreeranj Jayadevan, Bo Yuan +2
State estimation for hybrid systems that undergo intermittent contact with their environments, such as extraplanetary robots and satellites undergoing docking operations, is diffic…