5 citations · 12 across the 16 of their papers we have counts for
19 papers
Non Holonomic Collision Avoidance of Dynamic Obstacles under Non-Parametric Uncertainty: A Hilbert Space Approach
Unni Krishnan R Nair, Anish Gupta, D. A. Sasi Kiran +4
We consider the problem of an agent/robot with non-holonomic kinematics avoiding many dynamic obstacles. State and velocity noise of both the robot and obstacles as well as the rob…
CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning
Sudarshan S Harithas, Rishabh Dev Yadav, Deepak Singh +2
We present CCO-VOXEL: the very first chance-constrained optimization (CCO) algorithm that can compute trajectory plans with probabilistic safety guarantees in real-time directly on…
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…
Multi-Modal Model Predictive Control through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving
Vivek K. Adajania, Aditya Sharma, Anish Gupta +3
Standard Model Predictive Control (MPC) or trajectory optimization approaches perform only a local search to solve a complex non-convex optimization problem. As a result, they cann…
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…