14 citations · 42 across the 10 of their papers we have counts for
12 papers
E2Map: Experience-and-Emotion Map for Self-Reflective Robot Navigation with Language Models
Chan Kim, Keonwoo Kim, Mintaek Oh +10
Large language models (LLMs) have shown significant potential in guiding embodied agents to execute language instructions across a range of tasks, including robotic manipulation an…
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Ola Shorinwa, Johnathan Tucker, Aliyah Smith +5
We present Splat-MOVER, a modular robotics stack for open-vocabulary robotic manipulation, which leverages the editability of Gaussian Splatting (GSplat) scene representations to e…
Foundation Models in Robotics: Applications, Challenges, and the Future
Roya Firoozi, Johnathan Tucker, Stephen Tian +12
We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which li…
Local Non-Cooperative Games with Principled Player Selection for Scalable Motion Planning
Makram Chahine, Roya Firoozi, Wei Xiao +2
Game-theoretic motion planners are a powerful tool for the control of interactive multi-agent robot systems. Indeed, contrary to predict-then-plan paradigms, game-theoretic planner…
OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
Roya Firoozi, Alexandre Mir, Gadi Sznaier Camps +1
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDA…
Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning
Makram Chahine, Roya Firoozi, Wei Xiao +2
Game-theoretic motion planners are a potent solution for controlling systems of multiple highly interactive robots. Most existing game-theoretic planners unrealistically assume a p…
Cylindrical Battery Fault Detection under Extreme Fast Charging: A Physics-based Learning Approach
Roya Firoozi, Sara Sattarzadeh, Satadru Dey
High power operation in extreme fast charging significantly increases the risk of internal faults in Electric Vehicle batteries which can lead to accelerated battery failure. Early…
Improving Urban Traffic Throughput with Vehicle Platooning: Theory and Experiments
Stanley W. Smith, Yeojun Kim, Jacopo Guanetti +7
In this paper we present a model-predictive control (MPC) based approach for vehicle platooning in an urban traffic setting. Our primary goal is to demonstrate that vehicle platoon…
A Distributed Multi-Vehicle Coordination Algorithm for Navigation in Tight Environments
Roya Firoozi, Laura Ferranti, Xiaojing Zhang +2
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles t…
Formation and Reconfiguration of Tight Multi-Lane Platoons
Roya Firoozi, Xiaojing Zhang, Francesco Borrelli
Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execut…
Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication
Roya Firoozi, Shima Nazari, Jacopo Guanetti +2
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Cont…
Vehicle Localization and Control on Roads with Prior Grade Map
Roya Firoozi, Jacopo Guanetti, Roberto Horowitz +1
We propose a map-aided vehicle localization method for GPS-denied environments. This approach exploits prior knowledge of the road grade map and vehicle on-board sensor measurement…