publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2025

  1. pot_field_preview.png
    Integrating model-based control and rl for sim2real transfer of tight insertion policies
    Isidoros Marougkas, Dhruv Metha Ramesh, Joe H Doerr, and 4 more authors
    IEEE International Conference on Robotics and Automation (ICRA), 2025
  2. stela_preview.gif
    Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation
    Edgar Granados, Sumanth Tangirala, and Kostas E Bekris
    Robotics Science and Systems (RSS), 2025

2024

  1. morals_preview.png
    Morals: Analysis of high-dimensional robot controllers via topological tools in a latent space
    Ewerton R Vieira, Aravind Sivaramakrishnan, Sumanth Tangirala, and 3 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2024
  2. KRAFT: Sampling-Based Kinodynamic Replanning and Feedback Control over Approximate, Identified Models of Vehicular Systems
    Aravind Sivaramakrishnan, Sumanth Tangirala, Dhruv Metha Ramesh, and 2 more authors
    arXiv preprint arXiv:2409.11522, 2024

2023

  1. Data-efficient characterization of the global dynamics of robot controllers with confidence guarantees
    Ewerton R Vieira, Aravind Sivaramakrishnan, Yao Song, and 5 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2023

2022

  1. A survey on the integration of machine learning with sampling-based motion planning
    Troy McMahon, Aravind Sivaramakrishnan, Edgar Granados, and 1 more author
    Foundations and Trends\textregistered in Robotics, 2022
  2. mg_preview.png
    Morse graphs: Topological tools for analyzing the global dynamics of robot controllers
    Ewerton R Vieira, Edgar Granados, Aravind Sivaramakrishnan, and 3 more authors
    In International Workshop on the Algorithmic Foundations of Robotics, 2022
  3. Model identification and control of a low-cost mobile robot with omnidirectional wheels using differentiable physics
    Edgar Granados, Abdeslam Boularias, Kostas Bekris, and 1 more author
    In International Conference on Robotics and Automation (ICRA), 2022
  4. Terrain-aware learned controllers for sampling-based kinodynamic planning over physically simulated terrains
    Troy McMahon, Aravind Sivaramakrishnan, Kushal Kedia, and 2 more authors
    In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  5. Towards benchmarking sampling-based kinodynamic motion planners with ml4kp
    Edgar Granados, Aravind Sivaramakrishnan, and Kostas E Bekris
    In Proc. Workshop Evaluating Motion Plan. Perform., Metrics, Tools, Datasets, Exp. Des. Workshop IROS, 2022

2021

  1. acrobot2L_rrt2.gif
    Machine learning for kinodynamic planning (ml4kp)
    E Granados, A Sivaramakrishnan, T McMahon, and 2 more authors
    URl: https://github. com/PRX-Kinodynamic/ML4KP, 2021

2020

  1. parking_lot_rrt2.gif
    Refined analysis of asymptotically-optimal kinodynamic planning in the state-cost space
    Michal Kleinbort, Edgar Granados, Kiril Solovey, and 3 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2020