Brual C. Shah — accepted AI-conference papers

2020

Incorporating Motion Planning Feasibility Considerations during Task-Agent Assignment to Perform Complex Tasks Using Mobile Manipulators

Ariyan M. Kabir, Shantanu Thakar, Prahar M. Bhatt, Rishi K. Malhan, Pradeep Rajendran, Brual C. Shah +1

ICRA 2020poster

Multi-arm mobile manipulators can be represented as a combination of multiple robotic agents from the perspective of task-assignment and motion planning. Depending upon the task, agents might collaborate or work independently. Integrating motion planning with task-agent assignment is a computational…

Cited by 29 Source ↗Scholar ↗

2019

Context-Dependent Search for Generating Paths for Redundant Manipulators in Cluttered Environments

Pradeep Rajendran, Shantanu Thakar, Ariyan M. Kabir, Brual C. Shah, Satyandra K. Gupta

IROS 2019poster

We present a context-dependent bi-directional tree-search framework for point-to-point path planning for manipulators. Conceptually, our framework is composed of six modules: tree selection, focus selection, node selection, target selection, extend selection and connection type selection. Each modul…

Cited by 24 Source ↗Scholar ↗

2019

Generation of Synchronized Configuration Space Trajectories of Multi-Robot Systems

Ariyan M. Kabir, Alec Kanyuck, Rishi K. Malhan, Aniruddha V. Shembekar, Shantanu Thakar, Brual C. Shah +1

ICRA 2019poster

We pose the problem of path-constrained trajectory generation for the synchronous motion of multi-robot systems as a non-linear optimization problem. Our method determines appropriate parametric representation for the configuration variables, generates an approximate solution as a starting point for…

Cited by 45 Source ↗Scholar ↗