Current Projects
Task and Motion Planning for Rearrangement
Developing TAMP algorithms that enable robotic manipulators to re-arrange objects in constrained environments.
DQ Robotics Framework
Key advantages of dual quaternions:
- Compact 8-dimensional representation
- Avoids gimbal lock and singularities
- Efficient computation of forward/inverse kinematics
- Natural handling of screws and twists
Smart Arm Stack
Smart Arm Stack, an integrated software framework for robot drivers:
Interested In:
Motion Planning & Control
Learning-Based Approaches
Optimization Methods
Probabilistic Methods
Books to read :
- Probabilistic Robotics by Fox
- Convex Optimization by Stephan Boyd
- RL by Sutton