From the 1 of 8 linked papers with an AI index.
8 papers
Layered Risk Mapping for Autonomous Patient Transport in Expeditionary Medical Facilities
Lorena Maria Genua, Sarvesh Prajapati, Damla Leblebicioglu +1
The paper introduces a layered risk‑mapping system for autonomous wheelchairs that combines terrain slope, obstacles, and traversability into a probabilistic cost map using a Noisy…
Socially-Aware Autonomous Doorway Traversal and Payload Delivery for Emergency Assistance
Andrew Snowdy, Ananya Trivedi, Sarvesh Prajapati +2
In this work, we focus on the scenario of a robot-assisted emergency evacuation. We consider two capabilities relevant to such a setting. The first is opening doors ahead of the pe…
Spectral Signature Mapping from RGB Imagery for Terrain-Aware Navigation
Sarvesh Prajapati, Ananya Trivedi, Nathaniel Hanson +2
Successful navigation in outdoor environments requires accurate prediction of the physical interactions between the robot and the terrain. Many prior methods rely on geometric or s…
Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning
NeÅet Ãnver Akmandor, Sarvesh Prajapati, Mark Zolotas +1
Traditional motion planning methods for robots with many degrees-of-freedom, such as mobile manipulators, are often computationally prohibitive for real-world settings. In this pap…
Forest Biomass Mapping with Terrestrial Hyperspectral Imaging for Wildfire Risk Monitoring
Nathaniel Hanson, Sarvesh Prajapati, James Tukpah +2
With the rapid increase in wildfires in the past decade, it has become necessary to detect and predict these disasters to mitigate losses to ecosystems and human lives. In this pap…
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas +2
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety anal…