11 papers
[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator
Lina van Brügge, Shruti Kotpalliwar, Anton Koval +2
In this article, we present dynamic modeling, gait synthesis, and feedback control design for a modular novel subsurface robot, designed for human-free subsurface exploration and e…
SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation
F. Labra Caso, A. Saradagi, S. Fredriksson +3
Subterranean (SubT) environments have been a frontier for autonomous robotics, driven by the push for automation of mining operations and the interest in planetary exploration (Mar…
Aerial Inspection Behaviors via RL-based Quadrotor Control for Under-canopy Forest Environments
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This paper addresses the problem of using a deep Reinforcement Learning (RL)-based low-level Quadrotor controller within an autonomous Quadrotor navigation stack for aerial inspect…
A Heuristic Approach for Performance Tuning in RL-based Quadrotor Control via Reward Design and Termination Conditions
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +1
Reinforcement learning (RL)-based quadrotor control policies have achieved impressive performance in tasks such as fast navigation in cluttered environments and drone racing, where…
Fast Expanding Safe Circular Regions for Efficient Local Path Planning
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window App…
Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
Viswa Narayanan Sankaranarayanan, Vignesh K. Viswanathan, Akshit Saradagi +2
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors.…