Motion planning on Manifolds

Jan 27, 2020
Planning on a Hourglass

The project is focussed on applying tools from differential geometry to perform motion planning on a sequence of manifolds which are specified analytically or are learned from data.

Motion planning on Manifolds
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Ragesh Kumar Ramachandran
Planning and Control Engineer

My research interests include design and analysis of algorithms for solving various problems in Swarm robotic and Multi-robotic systems.

Publications

Sampling-Based Motion Planning on Manifold Sequences

We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the …
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Learning Manifolds for Sequential Motion Planning

Project

Learning Equality Constraints for Motion Planning on Manifolds

We consider the problem of learning representations of constraints from demonstrations with a deep neural network, which we call …
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