4 papers
Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator
Ramkumar Natarajan, Hanlan Yang, Qintong Xie +6
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfull…
Planning and Execution using Inaccurate Models with Provable Guarantees
Anirudh Vemula, Yash Oza, J. Andrew Bagnell +1
Models used in modern planning problems to simulate outcomes of real world action executions are becoming increasingly complex, ranging from simulators that do physics-based reason…
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…