1 citations · 1 across the 5 of their papers we have counts for
7 papers
Akule: Fast and Scalable Multi-Robot Motion Planning via Sparse Interaction Diffusion
Manav Vora, Gokul Puthumanaillam, Aditya Penumarti +2
Diffusion models provide expressive trajectory priors for multi-robot motion planning (MRMP), but scaling them to large teams requires coordinating individual motions without expen…
Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition
Aditya Penumarti, Khanh Dong, Zi-Hao Zhang +6
Sonars generate a significant amount of noise. With the advent of new technology capable of producing full 3D point clouds, the noise is amplified in sparse point clouds, making it…
uScenes: A Multimodal RGB and 3D Sonar Dataset for Underwater Robot Perception
Trung Tien Dong, Zhenqi Wu, Aditya Penumarti +4
Robust perception is essential for the deployment of autonomous underwater robots. However, optical cameras become unreliable under poor illumination and backscatter. Forward looki…
Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing
Gokul Puthumanaillam, Aditya Penumarti, Manav Vora +5
Robots equipped with rich sensor suites can localize reliably in partially-observable environments, but powering every sensor continuously is wasteful and often infeasible. Belief-…
Global Uncertainty-Aware Planning for Magnetic Anomaly-Based Navigation
Aditya Penumarti, Jane Shin
Navigating and localizing in partially observable, stochastic environments with magnetic anomalies presents significant challenges, especially when balancing the accuracy of state…
Real-time Uncertainty-Aware Motion Planning for Magnetic-based Navigation
Aditya Penumarti, Kristy Waters, Humberto Ramos +2
Localization in GPS-denied environments is critical for autonomous systems, and traditional methods like SLAM have limitations in generalizability across diverse environments. Magn…
Fast Marching based Rendezvous Path Planning for a Team of Heterogeneous Vehicle
Jaekwang Kim, Hyung-Jun Park, Aditya Penumarti +1
This paper presents a formulation for deterministically calculating optimized paths for a multiagent system consisting of heterogeneous vehicles. The key idea is the calculation of…