2 citations · 5 across the 12 of their papers we have counts for
4 papers · 1 filter
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas +2
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety anal…
Data-Driven Sampling Based Stochastic MPC for Skid-Steer Mobile Robot Navigation
Ananya Trivedi, Sarvesh Prajapati, Anway Shirgaonkar +2
Traditional approaches to motion modeling for skid-steer robots struggle with capturing nonlinear tire-terrain dynamics, especially during high-speed maneuvers. In this paper, we t…
User-customizable Shared Control for Robot Teleoperation via Virtual Reality
Rui Luo, Mark Zolotas, Drake Moore +1
Shared control can ease and enhance a human operator's ability to teleoperate robots, particularly for intricate tasks demanding fine control over multiple degrees of freedom. Howe…
A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains
Ananya Trivedi, Mark Zolotas, Adeeb Abbas +3
Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skid…