6 papers
Fast Navigation Through Occluded Spaces via Language-Conditioned Map Prediction
Rahul Moorthy Mahesh, Oguzhan Goktug Poyrazoglu, Yukang Cao +1
In cluttered environments, motion planners often face a trade-off between safety and speed due to uncertainty caused by occlusions and limited sensor range. In this work, we invest…
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control
Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu +1
Trajectory sampling is a key component of sampling-based control mechanisms. Trajectory samplers rely on control input samplers, which generate control inputs u from a distribution…
An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control
O. Goktug Poyrazoglu, Rahul Moorthy, Yukang Cao +2
Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sam…
C-Uniform Trajectory Sampling For Fast Motion Planning
O. Goktug Poyrazoglu, Yukang Cao, Volkan Isler
We study the problem of sampling robot trajectories and introduce the notion of C-Uniformity. As opposed to the standard method of uniformly sampling control inputs (which lead to…
Neural L1 Adaptive Control of Vehicle Lateral Dynamics
Pratik Mukherjee, Burak M. Gonultas, O. Goktug Poyrazoglu +1
We address the problem of stable and robust control of vehicles with lateral error dynamics for the application of lane keeping. Lane departure is the primary reason for half of th…
System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics
Burak M. Gonultas, Pratik Mukherjee, O. Goktug Poyrazoglu +1
In this paper, we address the problem of system identification and control of a front-steered vehicle which abides by the Ackermann geometry constraints. This problem arises natura…