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cs.RO2025
Swarm-Gen: Fast Generation of Diverse Feasible Swarm Behaviors
Simon Idoko, B. Bhanu Teja, K. Madhava Krishna +1
Coordination behavior in robot swarms is inherently multi-modal in nature. That is, there are numerous ways in which a swarm of robots can avoid inter-agent collisions and reach th…
cs.RO2024
Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model
Amith Manoharan, Aditya Sharma, Himani Belsare +3
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof var…
cs.RO2024
DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control
Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi +6
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for comp…