1 citations · 2 across the 12 of their papers we have counts for
13 papers
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…
LDLT -Lipschitz Network: Generalized Deep End-To-End Lipschitz Network Construction
Marius F. R. Juston, Ramavarapu S. Sreenivas, Dustin Nottage +1
Deep residual networks (ResNets) have demonstrated outstanding success in computer vision tasks, attributed to their ability to maintain gradient flow through deep architectures. S…
Safety Monitor for Off-Road Planning with Uncertainty Bounded Bekker Costs
Akshay Naik, Ramavarapu S. Sreenivas, William R. Norris +3
Reliable off-road autonomy requires operational constraints so that behavior stays predictable and safe when soil strength is uncertain. This paper presents a runtime assurance saf…
Hybrid Terrain-Aware Path Planning: Integrating VD-RRT* Exploration and VD-D* Lite Repair
Akshay Naik, William R. Norris, Dustin Nottage +1
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a c…
In-Situ Soil-Property Estimation and Bayesian Mapping with a Simulated Compact Track Loader
W. Jacob Wagner, Ahmet Soylemezoglu, Katherine Driggs-Campbell
Existing earthmoving autonomy is largely confined to highly controlled and well-characterized environments due to the complexity of vehicle-terrain interaction dynamics and the par…
APECS: Adaptive Personalized Control System Architecture
Marius F. R. Juston, Alex Gisi, William R. Norris +2
This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appro…
1-Lipschitz Network Initialization for Certifiably Robust Classification Applications: A Decay Problem
Marius F. R. Juston, Ramavarapu S. Sreenivas, William R. Norris +2
This paper discusses the weight parametrization of two standard 1-Lipschitz network architectures, the Almost-Orthogonal-Layers (AOL) and the SDP-based Lipschitz Layers (SLL). It e…
L-Lipschitz Gershgorin ResNet Network
Marius F. R. Juston, William R. Norris, Dustin Nottage +1
Deep residual networks (ResNets) have demonstrated outstanding success in computer vision tasks, attributed to their ability to maintain gradient flow through deep architectures. S…
Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing
Kevin Murphy, Joao C. V. Soares, Justin K. Yim +3
Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construc…
In Situ Soil Property Estimation for Autonomous Earthmoving Using Physics-Infused Neural Networks
W. Jacob Wagner, Ahmet Soylemezoglu, Dustin Nottage +1
A novel, learning-based method for in situ estimation of soil properties using a physics-infused neural network (PINN) is presented. The network is trained to produce estimates of…
A Robust Localization Solution for an Uncrewed Ground Vehicle in Unstructured Outdoor GNSS-Denied Environments
W. Jacob Wagner, Isaac Blankenau, Maribel DeLaTorre +2
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellit…