4 papers
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…
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.…
Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone
Mithun Babu, Yash Oza, Arun Kumar Singh +2
In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a…