1 citations · 1 across the 12 of their papers we have counts for
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Temporal Learning for End-Effector Position Estimation under Aerodynamic Disturbances in Aerial Continuum Manipulation
Niloufar Amiri, Houman Masnavi, Farrokh Janabi-Sharifi
This paper investigates temporal neural networks for \mbox{end-effector} position \mbox{estimation} of an aerial continuum manipulator (ACM) operating under aerodynamic effects ind…
Self-Supervised Online Robot-Agnostic Traversability Estimation for Open-World Environments
Julia Hindel, Simon Bultmann, Houman Masnavi +2
Self-supervised online traversability estimation enables robots to continuously learn from unlabeled open-world experiences and adapt their navigation behavior toward safe and effi…
cVLA: Towards Efficient Camera-Space VLAs
Max Argus, Jelena Bratulic, Houman Masnavi +4
Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a…
Dual Agent Learning Based Aerial Trajectory Tracking
Shaswat Garg, Houman Masnavi, Baris Fidan +1
This paper presents a novel reinforcement learning framework for trajectory tracking of unmanned aerial vehicles in cluttered environments using a dual-agent architecture. Traditio…
A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control
Ali A. Nazari, Jeremy Catania, Soroush Sadeghian +4
Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have…
Differentiable-Optimization Based Neural Policy for Occlusion-Aware Target Tracking
Houman Masnavi, Arun Kumar Singh, Farrokh Janabi-Sharifi
Tracking a target in cluttered and dynamic environments is challenging but forms a core component in applications like aerial cinematography. The obstacles in the environment not o…
PRIEST: Projection Guided Sampling-Based Optimization For Autonomous Navigation
Fatemeh Rastgar, Houman Masnavi, Basant Sharma +3
Efficient navigation in unknown and dynamic environments is crucial for expanding the application domain of mobile robots. The core challenge stems from the nonavailability of a fe…
Real-Time Multi-Convex Model Predictive Control for Occlusion Free Target Tracking
Houman Masnavi, Vivek Adajania, Karl Kruusamae +1
This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational t…
GPU Accelerated Batch Multi-Convex Trajectory Optimization for a Rectangular Holonomic Mobile Robot
Fatemeh Rastgar, Houman Masnavi, Karl Kruusamäe +2
We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assump…
Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures
Vivek Kantilal Adajania, Houman Masnavi, Fatemeh Rastgar +2
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimiza…
Multi-Modal Model Predictive Control through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving
Vivek K. Adajania, Aditya Sharma, Anish Gupta +3
Standard Model Predictive Control (MPC) or trajectory optimization approaches perform only a local search to solve a complex non-convex optimization problem. As a result, they cann…
GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization
Fatemeh Rastgar, Houman Masnavi, Jatan Shrestha +3
In this paper, we present a computationally efficient trajectory optimizer that can exploit GPUs to jointly compute trajectories of tens of agents in under a second. At the heart o…
Fast Adaptation of Manipulator Trajectories to Task Perturbation By Differentiating through the Optimal Solution
Shashank Srikanth, Mithun Babu, Houman Masnavi +3
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to pe…