6 papers
TRACE: Traversability-aware Reactive Navigation via VLM-driven Adaptive Constraints Estimation
Mario A. V. Saucedo, Midhun Edatharam Kunnath, Elias Small +4
This paper presents TRACE, a traversability-aware reactive navigation framework designed for the autonomous operation of ground robots in unstructured forest environments. Unlike t…
[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator
Lina van Brügge, Shruti Kotpalliwar, Anton Koval +2
In this article, we present dynamic modeling, gait synthesis, and feedback control design for a modular novel subsurface robot, designed for human-free subsurface exploration and e…
Collaborative Task Assignment, Sequencing and Multi-agent Path-finding
Yifan Bai, Shruti Kotpalliwar, Christoforos Kanellakis +1
In this article, we address the problem of collaborative task assignment, sequencing, and multi-agent pathfinding (TSPF), where a team of agents must visit a set of task locations…
Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This article introduces a novel sample-efficient curriculum learning (CL) approach for training an end-to-end reinforcement learning (RL) policy for robust stabilization of a Quadr…
Discrete time optimal control with frequency constraints for non-smooth systems
Shruti Kotpalliwar, Pradyumna Paruchuri, Debasish Chatterjee +1
We present a Pontryagin maximum principle for discrete time optimal control problems with (a) pointwise constraints on the control actions and the states, (b) frequency constraints…
A frequency-constrained geometric Pontryagin maximum principle on matrix Lie groups
Shruti Kotpalliwar, Pradyumna Paruchuri, Karmvir Singh Phogat +2
In this article we present a geometric discrete-time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the controls in addition to…