5 papers
Fail-RAG : A Retrieval Augmented Generation Informed Framework for Robot Failure Identification
Ameya Salvi, Jie Hu
Industry automation is witnessing an evolution in robotics driven by both technological breakthroughs and societal changes: progress towards generalist robots, embodied and physica…
Physics constrained learning of stochastic characteristics
Pardha Sai Krishna Ala, Ameya Salvi, Venkat Krovi +1
Accurate state estimation requires careful consideration of uncertainty surrounding the process and measurement models; these characteristics are usually not well-known and need an…
Characterizing gaussian mixture of motion modes for skid-steer vehicle state estimation
Ameya Salvi, Mark Brudnak, Jonathon M. Smereka +2
Skid-steered wheel mobile robots (SSWMRs) are characterized by the unique domination of the tire-terrain skidding for the robot to move. The lack of reliable friction models cascad…
Experimental investigation of pose informed reinforcement learning for skid-steered visual navigation
Ameya Salvi, Venkat Krovi
Vision-based lane keeping is a topic of significant interest in the robotics and autonomous ground vehicles communities in various on-road and off-road applications. The skid-steer…
Online identification of skidding modes with interactive multiple model estimation
Ameya Salvi, Pardha Sai Krishna Ala, Jonathon M. Smereka +4
Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Ch…