16 citations · 32 across the 11 of their papers we have counts for
11 papers
A Real-Time Framework for Intermediate Map Construction and Kinematically Feasible Off-Road Planning Without OSM
Otobong Jerome, Geesara Prathap Kulathunga, Devitt Dmitry +2
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically ai…
On Kinodynamic Global Planning in a Simplicial Complex Environment: A Mixed Integer Approach
Otobong Jerome, Alexandr Klimchik, Alexander Maloletov +1
This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to…
A Genetic Approach to Gradient-Free Kinodynamic Planning in Uneven Terrains
Otobong Jerome, Alexandr Klimchik, Alexander Maloletov +1
This paper proposes a genetic algorithm-based kinodynamic planning algorithm (GAKD) for car-like vehicles navigating uneven terrains modeled as triangular meshes. The algorithm's d…
Resilient Timed Elastic Band Planner for Collision-Free Navigation in Unknown Environments
Geesara Kulathunga, Abdurrahman Yilmaz, Zhuoling Huang +6
In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to…
Mapping the Unseen: Unified Promptable Panoptic Mapping with Dynamic Labeling using Foundation Models
Mohamad Al Mdfaa, Raghad Salameh, Geesara Kulathunga +2
Panoptic maps enable robots to reason about both geometry and semantics. However, open-vocabulary models repeatedly produce closely related labels that split panoptic entities and…
Residual Dynamics Learning for Trajectory Tracking for Multi-rotor Aerial Vehicles
Geesara Kulathunga, Hany Hamed, Alexandr Klimchik
This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in th…
Motion Planning for Multirotor Aerial Vehicles in Plan-based Control Paradigm: a Review
Geesara Kulathunga, Alexandr Klimchik
In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends…
Optimization-based Trajectory Tracking Approach for Multi-rotor Aerial Vehicles in Unknown Environments
Geesara Kulathunga, Hany Hamed, Dmitry Devitt +1
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for…
A Reinforcement Learning based Path Planning Approach in 3D Environment
Geesara Kulathunga
Optimal motion planning involves obstacles avoidance where path planning is the key to success in optimal motion planning. Due to the computational demands, most of the path planni…
Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)
Geesara Kulathunga, Dmitry Devitt, Roman Fedorenko +2
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique…
Real-Time Long Range Trajectory Replanning for MAVs in the Presence of Dynamic Obstacles
Geesara Kulathunga, Roman Fedorenko, Sergey Kopylov +1
Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local r…