40 citations · 73 across the 13 of their papers we have counts for
13 papers
Actor-Critic Cooperative Compensation to Model Predictive Control for Off-Road Autonomous Vehicles Under Unknown Dynamics
Prakhar Gupta, Jonathon M Smereka, Yunyi Jia
This study presents an Actor-Critic Cooperative Compensated Model Predictive Controller (AC3MPC) designed to address unknown system dynamics. To avoid the difficulty of modeling hi…
Reinforcement Learning Compensated Model Predictive Control for Off-road Driving on Unknown Deformable Terrain
Prakhar Gupta, Jonathon M. Smereka, Yunyi Jia
This study presents an Actor-Critic reinforcement learning Compensated Model Predictive Controller (AC2MPC) designed for high-speed, off-road autonomous driving on deformable terra…
Heuristics for Multi-Vehicle Routing Problem Considering Human-Robot Interactions
Venkata Sirimuvva Chirala, Kaarthik Sundar, Saravanan Venkatachalam +2
Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary ex…
Task Allocation with Load Management in Multi-Agent Teams
Haochen Wu, Amin Ghadami, Alparslan Emrah Bayrak +2
In operations of multi-agent teams ranging from homogeneous robot swarms to heterogeneous human-autonomy teams, unexpected events might occur. While efficiency of operation for mul…
Trust-based Symbolic Motion Planning for Multi-robot Bounding Overwatch
Huanfei Zheng, Jonathon M. Smereka, Dariusz Mikulski +2
Multi-robot bounding overwatch requires timely coordination of robot team members. Symbolic motion planning (SMP) can provide provably correct solutions for robot motion planning w…
Bayesian Optimization Based Trustworthiness Model for Multi-robot Bounding Overwatch
Huanfei Zheng, Jonathon M. Smereka, Dariusz Mikluski +1
In multi-robot system (MRS) bounding overwatch, it is crucial to determine which point to choose for overwatch at each step and whether the robots' positions are trustworthy so tha…
UV mission planning under uncertainty in vehicles' availability
Saravanan Venkatachalam, Jonathon M. Smereka
Heterogeneous unmanned vehicles (UVs) are used in various defense and civil applications. Some of the civil applications of UVs for gathering data and monitoring include civil infr…
Using Unlabeled Data for Increasing Low-Shot Classification Accuracy of Relevant and Open-Set Irrelevant Images
Spiridon Kasapis, Geng Zhang, Jonathon Smereka +1
In search, exploration, and reconnaissance tasks performed with autonomous ground vehicles, an image classification capability is needed for specifically identifying targeted objec…
Standardized Green View Index and Quantification of Different Metrics of Urban Green Vegetation
Yusuke Kumakoshi, Sau Yee Chan, Hideki Koizumi +2
Urban greenery is considered an important factor in relation to sustainable development and people's quality of life in the city. Although ways to measure urban greenery have been…
Two-stage stochastic programming approach for path planning problems under travel time and availability uncertainties
Saravanan Venkatachalam, Manish Bansal, Jonathon M. Smereka +1
Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applica…
Security and Performance Considerations in ROS 2: A Balancing Act
Jongkil Kim, Jonathon M. Smereka, Calvin Cheung +2
Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware.…
Open Problems in Robotic Anomaly Detection
Ritwik Gupta, Zachary T. Kurtz, Sebastian Scherer +1
Failures in robotics can have disastrous consequences that worsen rapidly over time. This, the ability to rely on robotic systems, depends on our ability to monitor them and interc…
Tree Search Techniques for Minimizing Detectability and Maximizing Visibility
Zhongshun Zhang, Yoonchang Sung, Lifeng Zhou +3
We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial guard. This introduces an a…