6 papers
Reactive Navigation under Non-Parametric Uncertainty through Hilbert Space Embedding of Probabilistic Velocity Obstacles
P. S. Naga Jyotish, Bharath Gopalakrishnan, A. V. S. Sai Bhargav Kumar +3
The probabilistic velocity obstacle (PVO) extends the concept of velocity obstacle (VO) to work in uncertain dynamic environments. In this paper, we show how a robust model predict…
Solving Chance Constrained Optimization under Non-Parametric Uncertainty Through Hilbert Space Embedding
Bharath Gopalakrishnan, Arun Kumar Singh, K. Madhava Krishna +1
In this paper, we present an efficient algorithm for solving a class of chance constrained optimization under non-parametric uncertainty. Our algorithm is built on the possibility…
Chance Constraints Integrated MPC Navigation in Uncertainty amongst Dynamic Obstacles: An overlap of Gaussians approach
Dhaivat Bhatt, Akash Garg, Bharath Gopalakrishnan +1
In this paper, we formulate a novel trajectory optimization scheme that takes into consideration the state uncertainty of the robot and obstacle into its collision avoidance routin…
Model Predictive Control for Autonomous Driving considering Actuator Dynamics
Mithun Babu, Raghu Ram Theerthala, Arun Kumar Singh +3
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alt…
Trajectory Optimization for Curvature Bounded Non-Holonomic Vehicles: Application to Autonomous Driving
Mithun Babu, Yash Oza, C. A. Balaji +3
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles.…
Chance constraint based multi agent navigation under uncertainty
Bharath Gopalakrishnan, Arun Kumar Singh, Meha Kaushik +2
We present Probabilistic Reciprocal Velocity Obstacle or PRVO as a general algorithm for navigating multiple robots under perception and motion uncertainty. PRVO is defined as the…