6 papers
RoboAtlas: Contextual Active SLAM
Alexander Schperberg, Shivam K. Panda, Abraham P. Vinod +3
We present RoboAtlas, a contextual Active SLAM framework that adaptively balances geometric exploration and semantic reasoning using a scalable 3D semantic mapping system, OpenRobo…
Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots
Xiaoshan Lin, Siddharth Nayak, Stefano Di Cairano +1
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several application…
Multi-agent Reach-avoid MDP via Potential Games and Low-rank Policy Structure
Adam Casselman, Abraham P. Vinod, Sarah H. Q. Li
We optimize finite horizon multi-agent reach-avoid Markov decision process (MDP) via \emph{local feedback policies}. The global feedback policy solution yields global optimality bu…
Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing
Abhinav G. Kamath, Abraham P. Vinod, Purnanand Elango +2
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex…
Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit
Purnanand Elango, Abraham P. Vinod, Kenji Kitamura +3
We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) aro…
pycvxset: A Python package for convex set manipulation
Abraham P. Vinod
This paper introduces pycvxset, a new Python package to manipulate and visualize convex sets. We support polytopes and ellipsoids, and provide user-friendly methods to perform a va…