Výsledky vyhledávání - "Sewlia, Mayank"

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Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning

Autor: Wong, Rufus Cheuk Yin, Sewlia, Mayank, Wiltz, Adrian, Dimarogonas, Dimos V.

Optimal path planning often suffers from getting stuck in a local optimum. This is often the case for mobile manipulators due to nonconvexities induced by obstacles and robot kinematics. This paper attempts to circumvent this issue by proposing a pip

Externí odkaz: http://arxiv.org/abs/2410.20635

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MAPS$^2$: Multi-Robot Autonomous Motion Planning under Signal Temporal Logic Specifications

Autor: Sewlia, Mayank, Verginis, Christos K., Dimarogonas, Dimos V.

This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either adopt a limi

Externí odkaz: http://arxiv.org/abs/2309.05632

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Dissertation/ Thesis

Cooperative Manipulation and Motion Planning Under Signal Temporal Logic Specifications

Autor: Sewlia, Mayank

As robots become increasingly prevalent in society, it is essential to prescribe complex high-level tasks to them. Tasks prescribed over temporal logics present two main challenges: generating trajectories that satisfy the logical formula and trackin

Externí odkaz: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-325288

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