Abhishek Nayak — accepted AI-conference papers

2023

G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins Gates

Satyanarayana Gupta Manyam, Abhishek Nayak, Sivakumar Rathinam

RSS 2023poster

We consider a Curvature-constrained Shortest Path (CSP) problem on a 2D plane for a robot with minimum turning radius constraints in the presence of obstacles. We introduce a new bounding technique called Gate* (G*) that provides optimality guarantees to the CSP. Our approach relies on relaxing the…

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2020

An Approximation Algorithm for a Task Allocation, Sequencing and Scheduling Problem Involving a Human-Robot Team

Sai Krishna Kanth Hari, Abhishek Nayak, Sivakumar Rathinam

RA-L 2020

This article presents an approximation algorithm for a Task Allocation, Sequencing and Scheduling Problem (TASSP) involving a team of human operators and robots. The robots have to travel to a given set of targets and collaboratively work on the tasks at the targets with the human operators. The pro

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