2 citations · 2 across the 3 of their papers we have counts for
4 papers
From Legible to Inscrutable Trajectories: (Il)legible Motion Planning Accounting for Multiple Observers
Ananya Yammanuru, Maria Lusardi, Nancy M. Amato +1
In cooperative environments, such as in factories or assistive scenarios, it is important for a robot to communicate its intentions to observers, who could be either other humans o…
Topology-Guided ORCA: Smooth Multi-Agent Motion Planning in Constrained Environments
Fatemeh Cheraghi Pouria, Zhe Huang, Ananya Yammanuru +2
We present Topology-Guided ORCA as an alternative simulator to replace ORCA for planning smooth multi-agent motions in environments with static obstacles. Despite the impressive pe…
LIT: Large Language Model Driven Intention Tracking for Proactive Human-Robot Collaboration -- A Robot Sous-Chef Application
Zhe Huang, John Pohovey, Ananya Yammanuru +1
Large Language Models (LLM) and Vision Language Models (VLM) enable robots to ground natural language prompts into control actions to achieve tasks in an open world. However, when…
HAS-RRT: RRT-based Motion Planning using Topological Guidance
Diane Uwacu, Ananya Yammanuru, Keerthana Nallamotu +3
We present a hierarchical RRT-based motion planning strategy, Hierarchical Annotated-Skeleton Guided RRT (HAS-RRT), guided by a workspace skeleton, to solve motion planning problem…