323 citations · 394 across the 14 of their papers we have counts for
14 papers
Experimental investigation of pose informed reinforcement learning for skid-steered visual navigation
Ameya Salvi, Venkat Krovi
Vision-based lane keeping is a topic of significant interest in the robotics and autonomous ground vehicles communities in various on-road and off-road applications. The skid-steer…
Metaverse for Safer Roadways: An Immersive Digital Twin Framework for Exploring Human-Autonomy Coexistence in Urban Transportation Systems
Tanmay Vilas Samak, Chinmay Vilas Samak, Venkat Narayan Krovi
Societal-scale deployment of autonomous vehicles requires them to coexist with human drivers, necessitating mutual understanding and coordination among these entities. However, pur…
Mixed-Reality Digital Twins: Leveraging the Physical and Virtual Worlds for Hybrid Sim2Real Transition of Multi-Agent Reinforcement Learning Policies
Chinmay Vilas Samak, Tanmay Vilas Samak, Venkat Narayan Krovi
Multi-agent reinforcement learning (MARL) for cyber-physical vehicle systems usually requires a significantly long training time due to their inherent complexity. Furthermore, depl…
Towards Validation of Autonomous Vehicles Across Scales using an Integrated Digital Twin Framework
Tanmay Vilas Samak, Chinmay Vilas Samak, Venkat Narayan Krovi
Autonomous vehicle platforms of varying spatial scales are employed within the research and development spectrum based on space, safety and monetary constraints. However, deploying…
Nigel -- Mechatronic Design and Robust Sim2Real Control of an Over-Actuated Autonomous Vehicle
Chinmay Vilas Samak, Tanmay Vilas Samak, Javad Mohammadpour Velni +1
Simulation to reality (sim2real) transfer from a dynamics and controls perspective usually involves re-tuning or adapting the designed algorithms to suit real-world operating condi…
Multi-Agent Deep Reinforcement Learning for Cooperative and Competitive Autonomous Vehicles using AutoDRIVE Ecosystem
Tanmay Vilas Samak, Chinmay Vilas Samak, Venkat Krovi
This work presents a modular and parallelizable multi-agent deep reinforcement learning framework for imbibing cooperative as well as competitive behaviors within autonomous vehicl…
Towards Sim2Real Transfer of Autonomy Algorithms using AutoDRIVE Ecosystem
Chinmay Vilas Samak, Tanmay Vilas Samak, Venkat Krovi
The engineering community currently encounters significant challenges in the development of intelligent transportation algorithms that can be transferred from simulation to reality…
Towards Mechatronics Approach of System Design, Verification and Validation for Autonomous Vehicles
Chinmay Vilas Samak, Tanmay Vilas Samak, Venkat Krovi
Modern-day autonomous vehicles are increasingly becoming complex multidisciplinary systems composed of mechanical, electrical, electronic, computing and information sub-systems. Fu…
AutoDRIVE: A Comprehensive, Flexible and Integrated Digital Twin Ecosystem for Enhancing Autonomous Driving Research and Education
Tanmay Vilas Samak, Chinmay Vilas Samak, Sivanathan Kandhasamy +2
Prototyping and validating hardware-software components, sub-systems and systems within the intelligent transportation system-of-systems framework requires a modular yet flexible a…
Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom
Johannes Betz, Hongrui Zheng, Zirui Zang +8
Although robotics courses are well established in higher education, the courses often focus on theory and sometimes lack the systematic coverage of the techniques involved in devel…
A Failure Identification and Recovery Framework for a Planar Reconfigurable Cable Driven Parallel Robot
Adhiti Raman, Ian Walker, Venkat Krovi +1
In cable driven parallel robots (CDPRs), a single cable malfunction usually induces complete failure of the entire robot. However, the lost static workspace (due to failure) can of…
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Johannes Betz, Hongrui Zheng, Alexander Liniger +5
The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware…
Behavior Identification and Prediction for a Probabilistic Risk Framework
Jasprit Singh Gill, Pierluigi Pisu, Venkat N. Krovi +1
Operation in a real world traffic requires autonomous vehicles to be able to plan their motion in complex environments (multiple moving participants). Planning through such environ…
Matrix-Based Characterization of the Motion and Wrench Uncertainties in Robotic Manipulators
Javad Sovizi, Sonjoy Das, Venkat Krovi
Characterization of the uncertainty in robotic manipulators is the focus of this paper. Based on the random matrix theory (RMT), we propose uncertainty characterization schemes in…