Publications

2024

Topology-Driven Recovery Path Planning in Dynamic Obstacle Environments.

Ghosh, Mukulika, Aakriti Upadhyay, and Chinwe Ekenna. "Topology-Driven Recovery Path Planning in Dynamic Obstacle Environments." In Algorithmic Foundations of Robotics XVI: Proceedings of the Sixteenth Workshop on the Algorithmic Foundations of Robotics (WAFR), 2024.


A Sampling Ensemble for Asymptotically Complete Motion Planning with Volume-Reducing Workspace Constraints.

Li, Sihui, Matthew Schack, Aakriti Upadhyay, and Neil Dantam. "A Sampling Ensemble for Asymptotically Complete Motion Planning with Volume-Reducing Workspace Constraints". International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ. 2024.

2023

Near-Optimal Motion Planning Algorithms Via A Topological and Geometric Perspective.

Upadhyay, Aakriti Kumari, "Near-Optimal Motion Planning Algorithms Via A Topological and Geometric Perspective" (2023). Computer Science Theses & Dissertations, State University of New York at Albany.

   

A New Tool to Study the Binding Behavior of Intrinsically Disordered Proteins.

Upadhyay, Aakriti and Chinwe Ekenna. "A New Tool to Study the Binding Behavior of Intrinsically Disordered Proteins." International Journal of Molecular Sciences (IJMS), MDPI, 2023.

   
IDP

Minimal Path Violation Problem with Application to Fault Tolerant Motion Planning of Manipulators.

Upadhyay, Aakriti, Mukulika Ghosh, and Chinwe Ekenna. "Minimal Path Violation Problem with Application to Fault Tolerant Motion Planning of Manipulators." 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023.

   

2022

A geometric and topological analysis of the binding behavior of Intrinsically Disordered Proteins.

Upadhyay, Aakriti and Chinwe Ekenna. "A geometric and topological analysis of the binding behavior of Intrinsically Disordered Proteins" 2022 IEEE International Conference on Bioinformatics and Biomedicine (BIBM). IEEE, 2022.

       

Incremental Path Planning Algorithm via Topological Mapping with Metric Gluing.

Upadhyay, Aakriti, Boris Goldfarb, and Chinwe Ekenna. "Incremental Path Planning Algorithm via Topological Mapping with Metric Gluing." 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2022.

       

A New Application of Discrete Morse Theory to Optimizing Safe Motion Planning Paths.

Upadhyay, Aakriti, Boris Goldfarb, Weifu Wang, and Chinwe Ekenna. "A new application of discrete morse theory to optimizing safe motion planning paths." In Algorithmic Foundations of Robotics XV: Proceedings of the Fifteenth Workshop on the Algorithmic Foundations of Robotics, pp. 18-35. Cham: Springer International Publishing, 2022.

       

2021

A topology approach towards modeling activities and properties on a biomolecular surface

Upadhyay, Aakriti, Tuan Tran, and Chinwe Ekenna. "A topology approach towards modeling activities and properties on a biomolecular surface." 2021 IEEE International Conference on Bioinformatics and Biomedicine (BIBM). IEEE, 2021.

       

A Topological Approach to Finding Coarsely Diverse Paths.

Upadhyay, Aakriti, Boris Goldfarb, and Chinwe Ekenna. "A Topological Approach to Finding Coarsely Diverse Paths." 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021.

       

2019

Approximating Cfree space topology by constructing Vietoris-Rips complex

Upadhyay, Aakriti, Weifu Wang, and Chinwe Ekenna. "Approximating Cfree space topology by constructing Vietoris-Rips complex." 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019.

       

2018

Rapidly Exploring Random Search Explorer (RESE)

Upadhyay, Aakriti, and Chinwe Ekenna. "Rapidly Exploring Random Search Explorer." In proceeding 2018 IEEE International Conference on Intelligent Robots and Systems (IROS) workshop on Machine Learning in Robot Motion Planning (MLMP), October 2018.


Heterogeneous Planning Spaces (HPS)

Upadhyay, Aakriti, and Chinwe Ekenna. "Investigating heterogeneous planning spaces." In 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp.108-115. IEEE, 2018.

       
HPS

2015

User Profiling from Profile Picture (UP3)

Vasanthakumar, G. U., Aakriti Kumari Upadhyay, Pradeep F. Kalmath, Sthita Dinakar, P. Deepa Shenoy, and K.R. Venugopal. "UP3: User profiling from Profile Picture in Multi-Social Networking." In 2015 Annual IEEE India Conference (INDICON), pp. 1-6. IEEE, 2015.