52 citations · 204 across the 57 of their papers we have counts for
14 papers · 1 filter
Use-Inspired Mobile Robot to Improve Safety of Building Retrofit Workforce in Constrained Spaces
Smruti Suresh, Michael Angelo Carvajal, Nathaniel Hanson +3
The inspection of confined critical infrastructure such as attics or crawlspaces is challenging for human operators due to insufficient task space, limited visibility, and the pres…
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…
Data-Driven Sampling Based Stochastic MPC for Skid-Steer Mobile Robot Navigation
Ananya Trivedi, Sarvesh Prajapati, Anway Shirgaonkar +2
Traditional approaches to motion modeling for skid-steer robots struggle with capturing nonlinear tire-terrain dynamics, especially during high-speed maneuvers. In this paper, we t…
Predictive Mapping of Spectral Signatures from RGB Imagery for Off-Road Terrain Analysis
Sarvesh Prajapati, Ananya Trivedi, Bruce Maxwell +1
Accurate identification of complex terrain characteristics, such as soil composition and coefficient of friction, is essential for model-based planning and control of mobile robots…
Learning a Stable, Safe, Distributed Feedback Controller for a Heterogeneous Platoon of Autonomous Vehicles
Michael H. Shaham, Taskin Padir
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (s…
Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies
Michael H. Shaham, Taskin Padir
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communic…
StereoNavNet: Learning to Navigate using Stereo Cameras with Auxiliary Occupancy Voxels
Hongyu Li, Taskin Padir, Huaizu Jiang
Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encod…
PROSPECT: Precision Robot Spectroscopy Exploration and Characterization Tool
Nathaniel Hanson, Gary Lvov, Vedant Rautela +4
Near Infrared (NIR) spectroscopy is widely used in industrial quality control and automation to test the purity and grade of items. In this research, we propose a novel sensorized…
User-customizable Shared Control for Robot Teleoperation via Virtual Reality
Rui Luo, Mark Zolotas, Drake Moore +1
Shared control can ease and enhance a human operator's ability to teleoperate robots, particularly for intricate tasks demanding fine control over multiple degrees of freedom. Howe…
A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains
Ananya Trivedi, Mark Zolotas, Adeeb Abbas +3
Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skid…
Design and Realization of a Benchmarking Testbed for Evaluating Autonomous Platooning Algorithms
Michael Shaham, Risha Ranjan, Engin Kirda +1
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the auton…
Battery-Swapping Multi-Agent System for Sustained Operation of Large Planetary Fleets
Ethan Holand, Jarrod Homer, Alex Storrer +10
We propose a novel, heterogeneous multi-agent architecture that miniaturizes rovers by outsourcing power generation to a central hub. By delegating power generation and distributio…
Analysis and Perspectives on the ANA Avatar XPRIZE Competition
Kris Hauser, Eleanor Watson, Joonbum Bae +25
The ANA Avatar XPRIZE was a four-year competition to develop a robotic "avatar" system to allow a human operator to sense, communicate, and act in a remote environment as though ph…