7 citations · 9 across the 8 of their papers we have counts for
6 papers · 1 filter
Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains
Rwik Rana, Jesse Quattrociocchi, Christian Ellis +3
High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction…
OVerSeeC: Open-Vocabulary Costmap Generation from Satellite Images and Natural Language
Rwik Rana, Jesse Quattrociocchi, Dongmyeong Lee +5
Aerial imagery provides essential global context for autonomous navigation, enabling route planning at scales inaccessible to onboard sensing. We address the problem of generating…
BEV-Patch-PF: Particle Filtering with BEV-Aerial Feature Matching for Off-Road Geo-Localization
Dongmyeong Lee, Jesse Quattrociocchi, Christian Ellis +5
We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RG…
Deep Model Predictive Optimization
Jacob Sacks, Rwik Rana, Kevin Huang +3
A major challenge in robotics is to design robust policies which enable complex and agile behaviors in the real world. On one end of the spectrum, we have model-free reinforcement…
DATT: Deep Adaptive Trajectory Tracking for Quadrotor Control
Kevin Huang, Rwik Rana, Alexander Spitzer +2
Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, w…
Fast and Real-time End to End Control in Autonomous Racing Cars Through Representation Learning
Praveen Venkatesh, Rwik Rana, Harish PM
The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of…