24 citations · 36 across the 9 of their papers we have counts for
9 papers
SRMP: Search-Based Robot Motion Planning Library
Itamar Mishani, Yorai Shaoul, Ramkumar Natarajan +2
Motion planning is a critical component in any robotic system. Over the years, powerful tools like the Open Motion Planning Library (OMPL) have been developed, offering numerous mo…
A-MHA*: Anytime Multi-Heuristic A*
Ramkumar Natarajan, Muhammad Suhail Saleem, William Xiao +3
Designing good heuristic functions for graph search requires adequate domain knowledge. It is often easy to design heuristics that perform well and correlate with the underlying tr…
Implicit Graph Search for Planning on Graphs of Convex Sets
Ramkumar Natarajan, Chaoqi Liu, Howie Choset +1
Graphs of Convex Sets (GCS) is a recent method for synthesizing smooth trajectories by decomposing the planning space into convex sets, forming a graph to encode the adjacency rela…
PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning
Ramkumar Natarajan, Shohin Mukherjee, Howie Choset +1
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several p…
Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator
Ramkumar Natarajan, Hanlan Yang, Qintong Xie +6
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfull…
Long Horizon Planning through Contact using Discrete Search and Continuous Optimization
Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan +2
Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby pe…
Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight
Ramkumar Natarajan, Howie Choset, Maxim Likhachev
Quadrotors can achieve aggressive flight by tracking complex maneuvers and rapidly changing directions. Planning for aggressive flight with trajectory optimization could be incredi…
Towards Planning and Control of Hybrid Systems with Limit Cycle using LQR Trees
Ramkumar Natarajan, Siddharthan Rajasekaran, Jonathan D. Taylor
We present a multi-query recovery policy for a hybrid system with goal limit cycle. The sample trajectories and the hybrid limit cycle of the dynamical system are stabilized using…
Transfer from Multiple Linear Predictive State Representations (PSR)
Sri Ramana Sekharan, Ramkumar Natarajan, Siddharthan Rajasekaran
In this paper, we tackle the problem of transferring policy from multiple partially observable source environments to a partially observable target environment modeled as predictiv…