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09/18/2023
Generalizing Trajectory Retiming to Quadratic Objective Functions
Trajectory retiming is the task of computing a feasible time parameteriz...
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09/18/2023
Desensitization and Deception in Differential Games with Asymmetric Information
Desensitization addresses safe optimal planning under parametric uncerta...
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08/01/2022
Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control
We present a locally optimal tracking controller for Cable Driven Parall...
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09/13/2021
Extended Version of GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot
We present GTGraffiti, a graffiti painting system from Georgia Tech that...
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08/05/2021
An Interleaved Approach to Trait-Based Task Allocation and Scheduling
To realize effective heterogeneous multi-robot teams, researchers must l...
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05/12/2021
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
In the context of heterogeneous multi-robot teams deployed for executing...
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02/25/2021
LES: Locally Exploitative Sampling for Robot Path Planning
Sampling-based algorithms solve the path planning problem by generating ...
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11/18/2020
Vision-Based Shape Reconstruction of Soft Continuum Arms Using a Geometric Strain Parametrization
Interest in soft continuum arms has increased as their inherent material...
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04/10/2020
Time-Informed Exploration For Robot Motion Planning
Anytime sampling-based methods are an attractive technique for solving k...
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03/02/2020
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
Chinese calligraphy is a unique art form with great artistic value but d...
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02/25/2020
Safe Optimal Control under Parametric Uncertainties
We address the issue of safe optimal path planning under parametric unce...
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11/18/2019
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Simulated Brush Model
Chinese calligraphy is a unique form of art that has great artistic valu...
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11/17/2019
Robotic Sculpting with Collision-free Motion Planning in Voxel Space
In this paper, we explore the task of robot sculpting. We propose a sear...
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03/20/2019
An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
For a team of heterogeneous robots executing multiple tasks, we propose ...
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02/27/2019
A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
In this paper we present a theoretical study of a specific class of vibr...
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02/27/2019
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory
In robot swarms operating under highly restrictive sensing and communica...
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02/27/2019
Achieving Non-Uniform Densities in Vibration Driven Robot Swarms Using Phase Separation Theory
In robot swarms operating with severely constrained sensing and communic...
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10/07/2018
Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot
We present a novel application of robust control and online learning for...
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10/07/2018