7 papers
Diffusion-FS: Multimodal Free-Space Prediction via Diffusion for Autonomous Driving
Keshav Gupta, Tejas S. Stanley, Pranjal Paul +2
Drivable Free-space prediction is a fundamental and crucial problem in autonomous driving. Recent works have addressed the problem by representing the entire non-obstacle road regi…
Swarm-Gen: Fast Generation of Diverse Feasible Swarm Behaviors
Simon Idoko, B. Bhanu Teja, K. Madhava Krishna +1
Coordination behavior in robot swarms is inherently multi-modal in nature. That is, there are numerous ways in which a swarm of robots can avoid inter-agent collisions and reach th…
DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control
Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi +6
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for comp…
Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model
Amith Manoharan, Aditya Sharma, Himani Belsare +3
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof var…
LeGo-Drive: Language-enhanced Goal-oriented Closed-Loop End-to-End Autonomous Driving
Pranjal Paul, Anant Garg, Tushar Choudhary +2
Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their ric…
AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space
Vivek K. Adajania, Siqi Zhou, Arun Kumar Singh +1
Quadrotor motion planning in complex environments leverage the concept of safe flight corridor (SFC) to facilitate static obstacle avoidance. Typically, SFCs are constructed throug…
Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone
Mithun Babu, Yash Oza, Arun Kumar Singh +2
In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a…