Mukulika Ghosh — accepted AI-conference papers

2023

Minimal Path Violation Problem with Application to Fault Tolerant Motion Planning of Manipulators

Aakriti Upadhyay, Mukulika Ghosh, Chinwe Ekenna

IROS 2023poster

Failure of any component in a robotic system during operation is a critical concern, and it is essential to address such incidents promptly. This work investigates a novel technique to recover from failures or changes in the configuration space while avoiding expensive re-computation or re-planning.…

Cited by 1 Source ↗Scholar ↗

2016

Motion planning using hierarchical aggregation of workspace obstacles

Mukulika Ghosh, Shawna Thomas, Marco Morales, Sam Rodriguez, Nancy M. Amato

IROS 2016poster

Sampling-based motion planning is the state-of-the-art technique for solving challenging motion planning problems in a wide variety of domains. While generally successful, their performance suffers from increasing problem complexity. In many cases, the full problem complexity is not needed for the e…

Cited by 6 Source ↗Scholar ↗