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Decentralized Motion Planning for Multi-Robot Navigation using Deep Reinforcement Learning
Sivanathan Kandhasamy, Vinayagam Babu Kuppusamy, Tanmay Vilas Samak +1
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed i…
Robust Behavioral Cloning for Autonomous Vehicles using End-to-End Imitation Learning
Tanmay Vilas Samak, Chinmay Vilas Samak, Sivanathan Kandhasamy
In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and…
Towards Scalable Continuous-Time Trajectory Optimization for Multi-Robot Navigation
Shravan Krishnan, Govind Aadithya Rajagopalan, Sivanathan Kandhasamy +1
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajec…
Continuous-Time Trajectory Optimization for Decentralized Multi-Robot Navigation
Shravan Krishnan, Govind Aadithya Rajagopalan, Sivanathan Kandhasamy +1
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navi…