Anushree Bapusaheb Sabnis

Action-Informed Estimation and Planning: Clearing Clutter on Staircases Via Quadrupedal Pedipulation

For robots to operate autonomously in densely cluttered environments, they must reason about and potentially physically interact with obstacles to clear a path. Safely clearing a path on challenging terrain, such as a cluttered staircase, requires controlled interaction. For example, a quadrupedal r…