8 papers
Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1
Underwater dead reckoning estimates vehicle position when vision is unavailable and external positioning cannot be assumed. A single set of filter parameters can work well in many…
LDLT L-Lipschitz Network Weight Parameterization Initialization
Marius F. R. Juston, Ramavarapu S. Sreenivas, Dustin Nottage +1
We analyze initialization dynamics for LDLT-based -Lipschitz layers by deriving the exact marginal output variance when the underlying parameter matrix $W_0\in \mathbb…
LDLT -Lipschitz Network: Generalized Deep End-To-End Lipschitz Network Construction
Marius F. R. Juston, Ramavarapu S. Sreenivas, Dustin Nottage +1
Deep residual networks (ResNets) have demonstrated outstanding success in computer vision tasks, attributed to their ability to maintain gradient flow through deep architectures. S…
1-Lipschitz Network Initialization for Certifiably Robust Classification Applications: A Decay Problem
Marius F. R. Juston, Ramavarapu S. Sreenivas, William R. Norris +2
This paper discusses the weight parametrization of two standard 1-Lipschitz network architectures, the Almost-Orthogonal-Layers (AOL) and the SDP-based Lipschitz Layers (SLL). It e…
Safety Monitor for Off-Road Planning with Uncertainty Bounded Bekker Costs
Akshay Naik, Ramavarapu S. Sreenivas, William R. Norris +3
Reliable off-road autonomy requires operational constraints so that behavior stays predictable and safe when soil strength is uncertain. This paper presents a runtime assurance saf…
Hybrid Terrain-Aware Path Planning: Integrating VD-RRT* Exploration and VD-D* Lite Repair
Akshay Naik, William R. Norris, Dustin Nottage +1
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a c…