1 citations · 1 across the 10 of their papers we have counts for
11 papers
Universal Navigation Interface: Robot-Free Data for Wheeled Robot Navigation
Sarvesh Prajapati, Ananya Trivedi, Lorena Maria Genua +3
Collecting real-world navigation data for mobile robots typically requires platform-specific teleoperation, making large-scale collection expensive and difficult to scale. We intro…
Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations
Ananya Trivedi, Sarvesh Prajapati, Mohamed Khalid M Jaffar +3
Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formulated as optimization problems that couple discrete decisions with co…
Layered Risk Mapping for Autonomous Patient Transport in Expeditionary Medical Facilities
Lorena Maria Genua, Sarvesh Prajapati, Damla Leblebicioglu +1
In expeditionary medical facilities, routine patient transport imposes a compounding burden of personal protective equipment consumption, staff diversion, and elevated infection ri…
Socially-Aware Autonomous Doorway Traversal and Payload Delivery for Emergency Assistance
Andrew Snowdy, Ananya Trivedi, Sarvesh Prajapati +2
In this work, we focus on the scenario of a robot-assisted emergency evacuation. We consider two capabilities relevant to such a setting. The first is opening doors ahead of the pe…
Spectral Signature Mapping from RGB Imagery for Terrain-Aware Navigation
Sarvesh Prajapati, Ananya Trivedi, Nathaniel Hanson +2
Successful navigation in outdoor environments requires accurate prediction of the physical interactions between the robot and the terrain. Many prior methods rely on geometric or s…
Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning
Neşet Ünver Akmandor, Sarvesh Prajapati, Mark Zolotas +1
Traditional motion planning methods for robots with many degrees-of-freedom, such as mobile manipulators, are often computationally prohibitive for real-world settings. In this pap…
Forest Biomass Mapping with Terrestrial Hyperspectral Imaging for Wildfire Risk Monitoring
Nathaniel Hanson, Sarvesh Prajapati, James Tukpah +2
With the rapid increase in wildfires in the past decade, it has become necessary to detect and predict these disasters to mitigate losses to ecosystems and human lives. In this pap…
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas +2
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety anal…
Data-Driven Sampling Based Stochastic MPC for Skid-Steer Mobile Robot Navigation
Ananya Trivedi, Sarvesh Prajapati, Anway Shirgaonkar +2
Traditional approaches to motion modeling for skid-steer robots struggle with capturing nonlinear tire-terrain dynamics, especially during high-speed maneuvers. In this paper, we t…
Predictive Mapping of Spectral Signatures from RGB Imagery for Off-Road Terrain Analysis
Sarvesh Prajapati, Ananya Trivedi, Bruce Maxwell +1
Accurate identification of complex terrain characteristics, such as soil composition and coefficient of friction, is essential for model-based planning and control of mobile robots…
A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains
Ananya Trivedi, Mark Zolotas, Adeeb Abbas +3
Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skid…