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VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation
Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1
A vehicle's heading affects both the surfaces beneath its tires and its pitch and roll. We present Vehicle-Conditioned Terrain Planning (VCTP), which retains these relationships by…
Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1
Underwater dead reckoning estimates vehicle position when vision is unavailable and external positioning cannot be assumed. A single set of filter parameters can work well in many…
LDLT L-Lipschitz Network Weight Parameterization Initialization
Marius F. R. Juston, Ramavarapu S. Sreenivas, Dustin Nottage +1
We analyze initialization dynamics for LDLT-based -Lipschitz layers by deriving the exact marginal output variance when the underlying parameter matrix $W_0\in \mathbb…