19 citations · 25 across the 7 of their papers we have counts for
9 papers
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Mrinal Verghese, Nikhil Das, Yuheng Zhi +1
Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial t…
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery
James Di, Mingwei Xu, Nikhil Das +1
Robot arm placements are oftentimes a limitation in surgical preoperative procedures, relying on trained staff to evaluate and decide on the optimal positions for the arms. Given n…
DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-class Labels for Safety-Aware Trajectory Optimization
Yuheng Zhi, Nikhil Das, Michael Yip
The objective of trajectory optimization algorithms is to achieve an optimal collision-free path between a start and goal state. In real-world scenarios where environments can be c…
Stochastic Modeling of Distance to Collision for Robot Manipulators
Nikhil Das, Michael C. Yip
Evaluating distance to collision for robot manipulators is useful for assessing the feasibility of a robot configuration or for defining safe robot motion in unpredictable environm…
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
Thai Duong, Nikhil Das, Michael Yip +1
This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in w…
Forward Kinematics Kernel for Improved Proxy Collision Checking
Nikhil Das, Michael C. Yip
Kernel functions may be used in robotics for comparing different poses of a robot, such as in collision checking, inverse kinematics, and motion planning. These comparisons provide…
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications
Nikhil Das, Michael Yip
This paper demonstrates that collision detection-intensive applications such as robotic motion planning may be accelerated by performing collision checks with a machine learning mo…
Fastron: An Online Learning-Based Model and Active Learning Strategy for Proxy Collision Detection
Nikhil Das, Naman Gupta, Michael Yip
We introduce the Fastron, a configuration space (C-space) model to be used as a proxy to kinematic-based collision detection. The Fastron allows iterative updates to account for a…
Robot Autonomy for Surgery
Michael Yip, Nikhil Das
Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of…