Personal Wiki of Subhrajit Bhattacharya

This project is under progress. Updates will be posted as they become available.

Publications

1. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Third Annual Symposium on Combinatorial Search. Atlanta, Georgia, 8-10 July, 2010. (BibTeX)
   
   [   [X]For the simple cases in 2-dimensions we have not distinguished between homotopy and homology. The distinction however does exist even in 2-d. See our more recent AURO 2012 paper or RSS 2011 paper for a comprehensive discussion on the distinction between homotopy and homology, examples illustrating the distinction, and its implications in robot planning problems.
   Addendum  |  External link not working? [X]
   Please follow this link to an alternate source.
   PDF extended abstract  |  Poster  |  Project Page  |  See AAAI paper with same title for more details  |  See more recent work with significant developments  |  See the related AURO'12 paper  ]
2. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, Georgia, 11-15 July, 2010. (BibTeX)
   
   [   [X]For the simple cases in 2-dimensions we have not distinguished between homotopy and homology. The distinction however does exist even in 2-d. See our more recent AURO 2012 paper or RSS 2011 paper for a comprehensive discussion on the distinction between homotopy and homology, examples illustrating the distinction, and its implications in robot planning problems.
   Addendum  |  External link not working? [X]
   Please follow this link to an alternate source.
   PDF  |  PPT Presentation  |  Project Page  |  MATLAB code for uniformly discretized environment  |  MATLAB code for visibility graph  |  C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost)  ]
3. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning", In Proceedings of Robotics: Science and Systems. Zaragoza, Spain, MIT Press, 27-30 June, 2010. (BibTeX)
   
   [   External link not working? [X]
   Please follow this link to an alternate source.
   PDF of the paper  |  Poster  |  2-slide brief presentation  |  MATLAB code for the exact implementation  |  Related Technical Report  |  Project Page  ]
4. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Multi-agent Path Planning with Multiple Tasks and Distance Constraints", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, 3-8 May, 2010. (BibTeX)
   
   [   External link not working? [X]
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   PDF  |  Related Technical Report  |  Related paper on distributed optimization with pair-wise constraints  |  Presentation  |  Project Page  ]

Technical Report and Paper

1. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Distributed Path Consensus Algorithm", Technical Report, University of Pennsylvania, 2010. (BibTeX)
   
   [  PDF Report  |  Related publication 1  |  Project page  ]

Presentation

1. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning", In Proceedings of Robotics: Science and Systems., 2010. (BibTeX)
   
   [  Poster  |  2-slide brief presentation  |  related publication  |  Related Technical Report  |  Project Page  ]
2. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, Georgia, July, 2010. (BibTeX)
   
   [  PPT Presentation  |  Related Publication  |  Project Page  ]
3. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, Georgia, July, 2010. (BibTeX)
   
   [  Poster  |  2-min brief presentation  |  Related publication  |  Project Page  |  See AAAI paper with same title for more details  ]
4. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Multi-agent Path Planning with Multiple Tasks and Distance Constraints", In IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, 3-8 May, 2010. (BibTeX)
   
   [  Presentation  |  Related publication  |  Project Page  ]

Movies:

1. Three robots executing plans in L457 with extended rendezvous: AVI movie (71.9 MB)
2. Two robots executing plans in L457 with tasks and rendezvous constraints: M2V movie (plays in VLC) (82.1 MB)
3. Two robots (one areal and one ground) modify their trajectories to rendezvous inside the tunnel: AVI movie (3.82 MB)
4. Four robots plan in X-Y-Z-time to perform complex coordination and information exchange tasks: M2V movie (plays in VLC) (46.7 MB)

Code

1. Codes related to implementation and demonstration of Homotopy Class constraints
   1. MATLAB code for uniformly discretized environment
   2. MATLAB code for visibility graph
   3. C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost)
2. Distributed Path Planning code - MATLAB code for the exact implementation

Research Projects