Ehsan T. Esfahani — accepted AI-conference papers

2021

Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas

Leighton Collins, Payam Ghassemi, Ehsan T. Esfahani, David Doermann, Karthik Dantu, Souma Chowdhury

ICRA 2021poster

This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This algorithm accounts for discontinuities (e.g., no-fly zones) i…

Cited by 69 Source ↗code ↗Scholar ↗

2017

Design of a novel variable stiffness gripper using permanent magnets

Amirhossein H. Memar, Nicholas Mastronarde, Ehsan T. Esfahani

ICRA 2017poster

This paper presents the design of a novel variable stiffness gripper with two parallel fingers (jaws). Compliance of the system is generated by using permanent magnets as the nonlinear springs. Based on the presented design, the position and stiffness level of the fingers can be adjusted simultaneou…

Cited by 36 Source ↗Scholar ↗