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.RO2026
Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
Simon Idoko, Prajyot Jadhav, Arun Kumar Singh
Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planni…
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…