246 citations
- DEVCOM Army Research LaboratoryUS134 papers
- United States ArmyUS20 papers
- Tulane UniversityUS19 papers
- University of Maryland, College ParkUS15 papers
- AEgis Technologies (United States)US13 papers
- Polytechnic University of BariIT13 papers
- National Academies of Sciences, Engineering, and MedicineUS11 papers
- Rice UniversityUS11 papers
- Massachusetts Institute of TechnologyUS10 papers
- Oak Ridge National LaboratoryUS10 papers
- U.S. Army Aviation and Missile CommandUS10 papers
- Universitat Politècnica de CatalunyaES9 papers
14 papers · 1 filter
Temporally-Sampled Efficiently Adaptive State Lattices for Autonomous Ground Robot Navigation in Partially Observed Environments
Ashwin Satish Menon, Eric R. Damm, Eli S. Lancaster +3
Due to sensor limitations, environments that off-road mobile robots operate in are often only partially observable. As the robots move throughout the environment and towards their…
CoReLIN: Constraint-based Reasoning for Zero-shot Lifelong Interactive Navigation
Apoorva Vashisth, Manav Kulshrestha, Pranav Bakshi +3
Robot navigation typically assumes an obstacle-free path exists between start and goal. In real environments, however, clutter may block all routes. We introduce Lifelong Interacti…
Terrain-Aware Kinodynamic Planning with Efficiently Adaptive State Lattices for Mobile Robot Navigation in Off-Road Environments
Eric R. Damm, Jason M. Gregory, Eli S. Lancaster +3
To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle r…
Stratified Topological Autonomy for Long-Range Coordination (STALC)
Cora A. Duggan, Adam Goertz, Adam Polevoy +5
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environme…
Actor-Critic Cooperative Compensation to Model Predictive Control for Off-Road Autonomous Vehicles Under Unknown Dynamics
Prakhar Gupta, Jonathon M Smereka, Yunyi Jia
This study presents an Actor-Critic Cooperative Compensated Model Predictive Controller (AC3MPC) designed to address unknown system dynamics. To avoid the difficulty of modeling hi…
Off-Road Autonomy Validation Using Scalable Digital Twin Simulations Within High-Performance Computing Clusters
Tanmay Vilas Samak, Chinmay Vilas Samak, Joey Binz +5
Off-road autonomy validation presents unique challenges due to the unpredictable and dynamic nature of off-road environments. Traditional methods focusing on sequentially sweeping…