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cs.RO2024
Safe Navigation in Dynamic Environments using Density Functions
Sriram S. K. S Narayanan, Joseph Moyalan, Umesh Vaidya
This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an…
cs.RO2023
Off-Road Navigation of Legged Robots Using Linear Transfer Operators
Joseph Moyalan, Andrew Zheng, Sriram S. K. S Narayanan +1
This paper presents the implementation of off-road navigation on legged robots using convex optimization through linear transfer operators. Given a traversability measure that capt…