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cs.RO2023
NeuroSMPC: A Neural Network guided Sampling Based MPC for On-Road Autonomous Driving
Kaustab Pal, Aditya Sharma, Mohd Omama +2
In this paper we show an effective means of integrating data driven frameworks to sampling based optimal control to vastly reduce the compute time for easy adoption and adaptation…
cs.RO2023
Hilbert Space Embedding-based Trajectory Optimization for Multi-Modal Uncertain Obstacle Trajectory Prediction
Basant Sharma, Aditya Sharma, K. Madhava Krishna +1
Safe autonomous driving critically depends on how well the ego-vehicle can predict the trajectories of neighboring vehicles. To this end, several trajectory prediction algorithms h…