48 citations · 85 across the 9 of their papers we have counts for
10 papers
Temporal Multimodal Multivariate Learning
Hyoshin Park, Justice Darko, Niharika Deshpande +7
We introduce temporal multimodal multivariate learning, a new family of decision making models that can indirectly learn and transfer online information from simultaneous observati…
Lunar Rover Localization Using Craters as Landmarks
Larry Matthies, Shreyansh Daftry, Scott Tepsuporn +5
Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measureme…
MLNav: Learning to Safely Navigate on Martian Terrains
Shreyansh Daftry, Neil Abcouwer, Tyler Del Sesto +7
We present MLNav, a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as rovers navigating on Mars.…
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms
Ugo Rosolia, Yuxiao Chen, Shreyansh Daftry +3
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial o…
Machine Learning Based Path Planning for Improved Rover Navigation (Pre-Print Version)
Neil Abcouwer, Shreyansh Daftry, Siddarth Venkatraman +6
Enhanced AutoNav (ENav), the baseline surface navigation software for NASA's Perseverance rover, sorts a list of candidate paths for the rover to traverse, then uses the Approximat…
Risk-Averse Planning Under Uncertainty
Mohamadreza Ahmadi, Masahiro Ono, Michel D. Ingham +2
We consider the problem of designing policies for partially observable Markov decision processes (POMDPs) with dynamic coherent risk objectives. Synthesizing risk-averse optimal po…