Nikhil Navkar — accepted AI-conference papers

2024

An Analytic Solution to the 3D CSC Dubins Path Problem

Victor M. Baez, Nikhil Navkar, Aaron T. Becker

ICRA 2024poster

We present an analytic solution to the 3D Dubins path problem for paths composed of an initial circular arc, a straight component, and a final circular arc. These are commonly called CSC paths. By modeling the start and goal configurations of the path as the base frame and final frame of an RRPRR ma…

Cited by 3 Source ↗code ↗Scholar ↗

2022

Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints

Haoran Zhao, Nihal Abdurahiman, Nikhil Navkar, Julien Leclerc, Aaron T. Becker

IROS 2022poster

This work presents an online trajectory generation algorithm using a sinusoidal jerk profile. The generator takes initial acceleration, velocity and position as input, and plans a multi-segment trajectory to a goal position under jerk, acceleration, and velocity limits. By analyzing the critical con…

Cited by 1 Source ↗code ↗Scholar ↗