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cs.RO2021
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…
cs.RO2021
ARDOP: A Versatile Humanoid Robotic Research Platform
Sudarshan S Harithas, Harish V Mekali
This paper describes the development of a humanoid robot called ARDOP. The goal of the project is to provide a modular, open-source, and inexpensive humanoid robot that would enabl…
cs.RO2021
RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments
Karnik Ram, Chaitanya Kharyal, Sudarshan S. Harithas +1
Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environm…