1 citations · 2 across the 7 of their papers we have counts for
9 papers
GPU Accelerated Batch Multi-Convex Trajectory Optimization for a Rectangular Holonomic Mobile Robot
Fatemeh Rastgar, Houman Masnavi, Karl Kruusamäe +2
We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assump…
Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures
Vivek Kantilal Adajania, Houman Masnavi, Fatemeh Rastgar +2
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimiza…
A Modified Model for Static Friction of a Soft and Hard Solid Interface
Arun K. Singh, Vinay A. Juvekar
We present a modified model based on shear rate and aging time dependent static friction between a soft solid such as gelatin hydrogel and a hard surface for instance glass surface…
GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization
Fatemeh Rastgar, Houman Masnavi, Jatan Shrestha +3
In this paper, we present a computationally efficient trajectory optimizer that can exploit GPUs to jointly compute trajectories of tens of agents in under a second. At the heart o…
Fast Adaptation of Manipulator Trajectories to Task Perturbation By Differentiating through the Optimal Solution
Shashank Srikanth, Mithun Babu, Houman Masnavi +3
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to pe…
Reactive Navigation under Non-Parametric Uncertainty through Hilbert Space Embedding of Probabilistic Velocity Obstacles
P. S. Naga Jyotish, Bharath Gopalakrishnan, A. V. S. Sai Bhargav Kumar +3
The probabilistic velocity obstacle (PVO) extends the concept of velocity obstacle (VO) to work in uncertain dynamic environments. In this paper, we show how a robust model predict…