83 citations · 114 across the 21 of their papers we have counts for
9 papers · 1 filter
SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging
Toktam Mohammadnejad, Jovin D'sa, Behdad Chalaki +2
Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuve…
Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion
Jacob Knaup, Jovin D'sa, Behdad Chalaki +3
Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Tr…
In Search of a Lost Metric: Human Empowerment as a Pillar of Socially Conscious Navigation
Vasanth Reddy Baddam, Behdad Chalaki, Vaishnav Tadiparthi +4
In social robot navigation, traditional metrics like proxemics and behavior naturalness emphasize human comfort and adherence to social norms but often fail to capture an agent's a…
Modeling the Lane-Change Reactions to Merging Vehicles for Highway On-Ramp Simulations
Dustin Holley, Jovin Dsa, Hossein Nourkhiz Mahjoub +4
Enhancing simulation environments to replicate real-world driver behavior is essential for developing Autonomous Vehicle technology. While some previous works have studied the yiel…
Active Learning with Dual Model Predictive Path-Integral Control for Interaction-Aware Autonomous Highway On-ramp Merging
Jacob Knaup, Jovin D'sa, Behdad Chalaki +4
Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding hu…
Multi-Robot Cooperative Navigation in Crowds: A Game-Theoretic Learning-Based Model Predictive Control Approach
Viet-Anh Le, Vaishnav Tadiparthi, Behdad Chalaki +4
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predic…