Samhita Marri — accepted AI-conference papers

2025

Precision Harvesting in Cluttered Environments: Integrating End Effector Design with Dual Camera Perception

Kendall Koe, Poojan Kalpeshbhai Shah, Benjamin Walt, Jordan Westphal, Samhita Marri, Shivani Kamtikar +4

ICRA 2025

Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems harvest well in uncluttered and structured environments. High tunnel environments are more compact and cluttered in nature

Cited by 2 Source ↗Scholar ↗

2022

Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment

Shivani Kamtikar, Samhita Marri, Benjamin Walt, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary

RA-L 2022

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image, accurate control models and sensors to perceive the shape of the

Cited by 22 Source ↗Scholar ↗

2020

Automated Synthesis of Modular Manipulators’ Structure and Control for Continuous Tasks around Obstacles

Thais Campos de Almeida, Samhita Marri, Hadas Kress-Gazit

RSS 2020poster

In this work, we describe an end-to-end system for automatically synthesizing correct-by-construction structure and controls for modular manipulators from high-level task specifications. We define specifications that include both continuous trajectories the end-effector must follow and constraints o…

Cited by 10 Source ↗PDF ↗Scholar ↗