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cs.RO2025
MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control
Basant Sharma, Prajyot Jadhav, Pranjal Paul +2
Navigating unknown environments with a single RGB camera is challenging, as the lack of depth information prevents reliable collision-checking. While some methods use estimated dep…
cs.RO2025★ 1 cited
Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy
Basant Sharma, Arun Kumar Singh
This paper addresses sampling-based trajectory optimization for risk-aware navigation under stochastic dynamics. Typically such approaches operate by computing perturbe…