23 citations · 35 across the 15 of their papers we have counts for
4 papers · 1 filter
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…