Published in IP, India, 2019
A multi robot system capable of decentralized navigation without collisions with static or dynamic obstacles with the help of onboard sensor and other robot states.
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Published in 21st International Conference on Intelligent Transportation Systems (ITSC), 2018
A look back at different motion planning approaches taken while navigating an intersection.
Recommended citation: S. Krishnan, R. Govind Aadithya, R. Ramakrishnan, V. Arvindh and K. Sivanathan, "A Look at Motion Planning for AVs at an Intersection," 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Maui, HI, USA, 2018, pp. 333-340, doi: 10.1109/ITSC.2018.8569244. https://ieeexplore.ieee.org/document/8569244
Published in 4th International Symposium On Robotics and Manufacturing Automation, DSEC, Perambalur, Tamil Nadu, India., 2018
A decentralized trajectory planning approach while optimizing for minizing jerk. The approach proposes a safe region formulation that takes into account the static and dynamic obstacles while trajectory optimization.
Recommended citation: Arvindh, Vijay, Govind Aadithya R, and Shravan Krishnan. "Collision-Free Multi Robot Trajectory Optimization in Unknown Environments using Decentralized Trajectory Planning." arXiv e-prints (2018): arXiv-1812. https://arxiv.org/pdf/1812.00868.pdf
Published in ArXiv, 2019
Building on the Collision-Free Multi Robot Trajectory Optimization in Unknown Environments using Decentralized Trajectory Planning work, we extended the framework to account for the interactions like the downwash of the robot, size of the robot, and explicit dynamic collision avoidance with soft constraints while solving for trajectory.
Recommended citation: Krishnan, S., Rajagopalan, G. A., Kandhasamy, S., & Shanmugavel, M. (2019). Towards Scalable Continuous-Time Trajectory Optimization for Multi-Robot Navigation. https://arxiv.org/pdf/1910.13463.pdf
Published in Advances in Control and Optimization of Dynamic Systems 2020, IIT Madras, India, 2020
Continuing the work from Collision-Free Multi Robot Trajectory Optimization in Unknown Environments using Decentralized Trajectory Planning, in this paper we propose a trajectory optimization framework where we estimate the trajectories of the other robotis as a polynomial function of time hence accounting for tentative collision zones that should be avoided by the ego while planning the trajectory.
Recommended citation: Shravan Krishnan, Govind Aadithya Rajagopalan, Sivanathan Kandhasamy, Madhavan Shanmugavel, "Continuous-Time Trajectory Optimization for Decentralized Multi-Robot Navigation", IFAC-PapersOnLine,Volume 53, Issue 1,2020,Pages 494-499,ISSN 2405-8963. https://doi.org/10.1016/j.ifacol.2020.06.083
Published in Proquest, 2024
The work focuses on development and validation of a simulation platform for Robotis OP3 robot with MuJoCo.
Recommended citation: Rajagopalan, Govind Aadithya. New York University Tandon School of Engineering ProQuest Dissertations & Theses, 2024. 31297576 https://www.proquest.com/docview/3055611107
Worked while in SRM Team Humanoid, 2016
Designed a reactive control for a Humanoid using a PID controller for the ankle motors to increase robot stability.
Worked while in SRM Team Humanoid, 2017
An inverse kinematic-based algorithm to generate a smooth walkcycle.