3 papers
cs.LG2026
Momentum Based Reward Design for Low Emission Traffic Signal Control
Chinmay Mundane, Amith Manoharan, Arun Kumar Singh
Urban traffic congestion is a growing global issue contributing significantly to long commute times and environmental pollution. Traditional traffic signal control systems often fa…
cs.RO2025
-MPPI: A Projection-based Model Predictive Path Integral Scheme for Smooth Optimal Control of Fixed-Wing Aerial Vehicles
Edvin Martin Andrejev, Amith Manoharan, Karl-Eerik Unt +1
Model Predictive Path Integral (MPPI) is a popular sampling-based Model Predictive Control (MPC) algorithm for nonlinear systems. It optimizes trajectories by sampling control sequ…
cs.RO2024
Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model
Amith Manoharan, Aditya Sharma, Himani Belsare +3
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof var…