5 papers
Multi-CAP: A Multi-Robot Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments
Zongyuan Shen, Burhanuddin Shirose, Prasanna Sriganesh +3
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reduc…
Action-Informed Estimation and Planning: Clearing Clutter on Staircases via Quadrupedal Pedipulation
Prasanna Sriganesh, Barath Satheeshkumar, Anushree Sabnis +1
For robots to operate autonomously in densely cluttered environments, they must reason about and potentially physically interact with obstacles to clear a path. Safely clearing a p…
A Bayesian Modeling Framework for Estimation and Ground Segmentation of Cluttered Staircases
Prasanna Sriganesh, Burhanuddin Shirose, Matthew Travers
Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncer…
CAP: A Connectivity-Aware Hierarchical Coverage Path Planning Algorithm for Unknown Environments using Coverage Guidance Graph
Zongyuan Shen, Burhanuddin Shirose, Prasanna Sriganesh +1
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hi…
Modular, Resilient, and Scalable System Design Approaches -- Lessons learned in the years after DARPA Subterranean Challenge
Prasanna Sriganesh, James Maier, Adam Johnson +7
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficultie…