Jaykumar Bhagiya

Index

Publications

Peer-reviewed research in robotics, control, and automated assembly. Each entry links to the paper, along with a preprint, video, or code where available.

2026

  1. FAST: Action-aware Feasibility in Assembly Sequence Planning using Graph Transformer

    Xiaomei Xu†, Jaykumar Bhagiya†, Marco Schneider, Rainer Müller

    † Shared first authorship

    2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Accepted

    A Graph Transformer predicts whether a disassembly action is physically feasible, letting an assembly-sequence planner learn from failed actions and run end-to-end on a real robot.

2025

  1. Collision-Free Trajectory Planning in Cluttered Environments for Efficient Bin Picking

    Xiaomei Xu, Attique Bashir, Jaykumar Bhagiya, Rainer Müller

    2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    A point-cloud-based perception and planning pipeline finds collision-free trajectories, verifies them in a digital twin, and executes them with a robot arm.

  2. Automated Assembly Picking System for Cluttered Environments with Live Collision-Free Trajectory Planning

    Xiaomei Xu, Attique Bashir, Jaykumar Bhagiya, Rainer Müller

    2025 IEEE 30th International Conference on Emerging Technologies and Factory Automation (ETFA)

    An assembly-picking system combines sequence planning, object detection, 3D pose estimation, trajectory planning, and digital-twin verification.

2023

  1. Scalable Distributed Controller Synthesis for Multi-Agent Systems Using Barrier Functions and Symbolic Control

    David Smith Sundarsingh, Jay Bhagiya, Saharsh, Jeel Chatrola, Adnane Saoud, Pushpak Jagtap

    2023 62nd IEEE Conference on Decision and Control (CDC)

    A bottom-up synthesis method combines symbolic controllers and barrier functions to enforce local temporal-logic goals together with global safety.

  2. Autonomous Exploration Using Ground Robots with Safety Guarantees

    David Smith Sundarsingh†, Jay Bhagiya†, Jeel Chatrola†, Pushpak Jagtap

    † Equal contribution

    2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    A 2D exploration framework combines frontier selection and symbolic control while accounting for robot dynamics, practical constraints, noise, and modelling uncertainty.

2022

  1. Funnel-based Reachability Control of Unknown Nonlinear Systems Using Gaussian Processes

    Sandeep Gorantla†, Jeel Chatrola†, Jay Bhagiya†, Adnane Saoud, Pushpak Jagtap

    † Equal contribution

    2022 Eighth Indian Control Conference (ICC)

    Gaussian processes approximate unknown nonlinear dynamics with a probabilistic bound before a funnel-based reachability controller is synthesized.