23 citations · 35 across the 15 of their papers we have counts for
19 papers
Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control
Gerry Chen, Seth Hutchinson, Frank Dellaert
We present a locally optimal tracking controller for Cable Driven Parallel Robot (CDPR) control based on a time-varying Linear Quadratic Gaussian (TV-LQG) controller. In contrast t…
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Ziyi Zhou, Bruce Wingo, Nathan Boyd +2
In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternat…
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer
Yunhai Han, Kelin Yu, Rahul Batra +6
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dy…
Extended Version of GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot
Gerry Chen, Sereym Baek, Juan-Diego Florez +4
We present GTGraffiti, a graffiti painting system from Georgia Tech that tackles challenges in art, hardware, and human-robot collaboration. The problem of painting graffiti in a h…
An Interleaved Approach to Trait-Based Task Allocation and Scheduling
Glen Neville, Andrew Messing, Harish Ravichandar +2
To realize effective heterogeneous multi-robot teams, researchers must leverage individual robots' relative strengths and coordinate their individual behaviors. Specifically, heter…
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Yousef Emam +4
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online f…
LES: Locally Exploitative Sampling for Robot Path Planning
Sagar Suhas Joshi, Seth Hutchinson, Panagiotis Tsiotras
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally,…
Vision-Based Shape Reconstruction of Soft Continuum Arms Using a Geometric Strain Parametrization
Ali AlBeladi, Girish Krishnan, Mohamed-Ali Belabbas +1
Interest in soft continuum arms has increased as their inherent material elasticity enables safe and adaptive interactions with the environment. However to achieve full autonomy in…
TIE: Time-Informed Exploration For Robot Motion Planning
Sagar Suhas Joshi, Seth Hutchinson, Panagiotis Tsiotras
Anytime sampling-based methods are an attractive technique for solving kino-dynamic motion planning problems. These algorithms scale well to higher dimensions and can efficiently h…
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
Sen Wang, Jiaqi Chen, Xuanliang Deng +2
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization…
Safe Optimal Control under Parametric Uncertainties
Hemanth Sarabu, Venkata Ramana Makkapati, Vinodhini Comandur +2
We address the issue of safe optimal path planning under parametric uncertainties using a novel regularizer that allows trading off optimality with safety. The proposed regularizer…
Robotic Sculpting with Collision-free Motion Planning in Voxel Space
Abhinav Jain, Seth Hutchinson, Frank Dellaert
In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipula…
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
Sen Wang, Jiaqi Chen, Xuanliang Deng +2
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization…
A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
Gennaro Notomista, Siddharth Mayya, Anirban Mazumdar +2
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we di…
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory
Siddharth Mayya, Gennaro Notomista, Dylan Shell +2
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange.…
An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Seth Hutchinson +1
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. M…
Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids
Munzir Zafar, Seth Hutchinson, Evangelos A. Theodorou
In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on…
Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot
Munzir Zafar, Akash Patel, Bogdan Vlahov +3
We present a novel application of robust control and online learning for the balancing of a n Degree of Freedom (DoF), Wheeled Inverted Pendulum (WIP) humanoid robot. Our technique…
On Considering Uncertainty and Alternatives in Low-Level Vision
Steven M. LaValle, Seth A. Hutchinson
In this paper we address the uncertainty issues involved in the low-level vision task of image segmentation. Researchers in computer vision have worked extensively on this problem,…