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Pradeep Rajendran

6 accepted papers

2026

Real-Time Seam Tracking for Robotic Welding Via Registration-Based Deformation Estimation

Surag Balajepalli, Amrish Baskaran, Naik Shounak, Christopher Eubel, Abolfazl Meyarian, Andong Dai +3
ICRA 2026poster

Arc welding induces thermal deformation that continuously displaces the seam path during execution, causing the robot to miss the joint on long seams. We present a real-time seam tracking system with three principal contributions: (1) a constrained ICP registration of live leading-laser scans agains…

Cited by 0Scholar ↗
2020

Accelerating Bi-Directional Sampling-Based Search for Motion Planning of Non-Holonomic Mobile Manipulators

Shantanu Thakar, Pradeep Rajendran, Hyojeong Kim, Ariyan M. Kabir, Satyandra K. Gupta
IROS 2020poster

Determining a feasible path for nonholonomic mobile manipulators operating in congested environments is challenging. Sampling-based methods, especially bi-directional tree search-based approaches, are amongst the most promising candidates for quickly finding feasible paths. However, sampling uniform…

Cited by 29Source ↗Scholar ↗
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 29Source ↗Scholar ↗
2019

Accounting for Part Pose Estimation Uncertainties during Trajectory Generation for Part Pick-Up Using Mobile Manipulators

Shantanu Thakar, Pradeep Rajendran, Vivek Annem, Ariyan Kabir, Satyandra Gupta
ICRA 2019poster

To minimize the operation time, mobile manipulators need to pick-up parts while the mobile base and the gripper are moving. The gripper speed needs to be selected to ensure that the pick-up operation does not fail due to uncertainties in part pose estimation. This, in turn, affects the mobile base t…

Cited by 42Source ↗Scholar ↗
2019

Context-Dependent Compensation Scheme to Reduce Trajectory Execution Errors for Industrial Manipulators

Prahar M. Bhatt, Pradeep Rajendran, Keith McKay, Satyandra K. Gupta
ICRA 2019poster

Currently, automatically generated trajectories cannot be directly used on tasks that require high execution accuracies due to errors accused by inaccuracies in the robot model, actuator errors, and controller limitations. These trajectories often need manual refinement. This is not economically via…

Cited by 28Source ↗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 24Source ↗Scholar ↗