Reuleaux: Robot Base Placement by Reachability Analysis. - Abhijit Makhal; Alex K. Goins (IRC, 2018)

Grasping Unknown Objects in Clutter by Superquadric Representation. - Abhijit Makhal; Federico Thomas; Alba Perez Gracia (IRC, 2018)

Supertoroid fitting of objects with holes for robotic grasping and scene generation. - Joan Badia Torres; Eric Carmona; Abhijit Makhal; Omid Heidari; Alba Perez Gracia (CoRR, 2024)