16 citations · 21 across the 17 of their papers we have counts for
17 papers
Balancing Accuracy and Efficiency: Adaptive Dynamics Orchestration for Model Predictive Control
Francesco Cancelliere, Aniket Datar, Giovanni Muscato +1
Model Predictive Control (MPC) for autonomous navigation faces a fundamental trade-off between model accuracy and real-time efficiency. High-fidelity dynamics models can accurately…
VertiAdaptor: Online Kinodynamics Adaptation for Vertically Challenging Terrain
Tong Xu, Chenhui Pan, Aniket Datar +1
Autonomous driving in off-road environments presents significant challenges due to the dynamic and unpredictable nature of unstructured terrain. Traditional kinodynamic models ofte…
Zero-Shot Adaptation to Robot Structural Damage via Natural Language-Informed Kinodynamics Modeling
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri +2
High-performance autonomous mobile robots endure significant mechanical stress during in-the-wild operations, e.g., driving at high speeds or over rugged terrain. Although these pl…
Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy
Haiyue Chen, Aniket Datar, Tong Xu +6
Off-road navigation is an important capability for mobile robots deployed in environments that are inaccessible or dangerous to humans, such as disaster response or planetary explo…
Dom, cars don't fly! -- Or do they? In-Air Vehicle Maneuver for High-Speed Off-Road Navigation
Anuj Pokhrel, Aniket Datar, Xuesu Xiao
When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks…
Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain
Tong Xu, Chenhui Pan, Madhan B. Rao +4
Recent advancement in off-road autonomy has shown promises in deploying autonomous mobile robots in outdoor off-road environments. Encouraging results have been reported from both…
VertiFormer: A Data-Efficient Multi-Task Transformer for Off-Road Robot Mobility
Mohammad Nazeri, Anuj Pokhrel, Alexandyr Card +3
Sophisticated learning architectures, e.g., Transformers, present a unique opportunity for robots to understand complex vehicle-terrain kinodynamic interactions for off-road mobili…
M2P2: A Multi-Modal Passive Perception Dataset for Off-Road Mobility in Extreme Low-Light Conditions
Aniket Datar, Anuj Pokhrel, Mohammad Nazeri +8
Long-duration, off-road, autonomous missions require robots to continuously perceive their surroundings regardless of the ambient lighting conditions. Most existing autonomy system…
Traverse the Non-Traversable: Estimating Traversability for Wheeled Mobility on Vertically Challenging Terrain
Chenhui Pan, Aniket Datar, Anuj Pokhrel +3
Most traversability estimation techniques divide off-road terrain into traversable (e.g., pavement, gravel, and grass) and non-traversable (e.g., boulders, vegetation, and ditches)…
VertiCoder: Self-Supervised Kinodynamic Representation Learning on Vertically Challenging Terrain
Mohammad Nazeri, Aniket Datar, Anuj Pokhrel +3
We present VertiCoder, a self-supervised representation learning approach for robot mobility on vertically challenging terrain. Using the same pre-training process, VertiCoder can…
PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain
Xiaoyi Cai, James Queeney, Tong Xu +8
Self-supervised learning is a powerful approach for developing traversability models for off-road navigation, but these models often struggle with inputs unseen during training. Ex…
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 3rd BARN Challenge at ICRA 2024
Xuesu Xiao, Zifan Xu, Aniket Datar +16
The 3rd BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) in Yokohama, Japan and co…
Terrain-Attentive Learning for Efficient 6-DoF Kinodynamic Modeling on Vertically Challenging Terrain
Aniket Datar, Chenhui Pan, Mohammad Nazeri +2
Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehic…
CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in SE(3)
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri +1
While the workspace of traditional ground vehicles is usually assumed to be in a 2D plane, i.e., SE(2), such an assumption may not hold when they drive at high speeds on unstructur…
Learning to Model and Plan for Wheeled Mobility on Vertically Challenging Terrain
Aniket Datar, Chenhui Pan, Xuesu Xiao
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobi…
Toward Human-Like Social Robot Navigation: A Large-Scale, Multi-Modal, Social Human Navigation Dataset
Duc M. Nguyen, Mohammad Nazeri, Amirreza Payandeh +2
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, huma…
Toward Wheeled Mobility on Vertically Challenging Terrain: Platforms, Datasets, and Algorithms
Aniket Datar, Chenhui Pan, Mohammad Nazeri +1
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable s…