69 citations · 196 across the 15 of their papers we have counts for
16 papers
Algorithmic design and implementation considerations of deep MPC
Prabhat K. Mishra, Mateus V. Gasparino, Girish Chowdhary
Deep Model Predictive Control (Deep MPC) is an evolving field that integrates model predictive control and deep learning. This manuscript is focused on a particular approach, which…
Learning to Walk With Less: A Dyna-Style Approach to Quadrupedal Locomotion
Francisco Affonso, Felipe Tommaselli, João H. Aléssio +4
Traditional on-policy reinforcement learning (RL) controllers for quadrupedal locomotion often suffer from low data efficiency, requiring millions of interactions with simulated en…
ZeST: A VLM-based Zero-Shot Traversability Navigation for Unknown Environments
Shreya Gummadi, Mateus V. Gasparino, Gianluca Capezzuto +2
Advances in robotics and autonomous navigation systems hinge on the ability to predict terrain traversability accurately. Traditional methods for generating datasets to train these…
CropNav: a Framework for Autonomous Navigation in Real Farms
Mateus Valverde Gasparino, Vitor Akihiro Hisano Higuti, Arun Narenthiran Sivakumar +3
Small robots that can operate under the plant canopy can enable new possibilities in agriculture. However, unlike larger autonomous tractors, autonomous navigation for such under c…
Fed-EC: Bandwidth-Efficient Clustering-Based Federated Learning For Autonomous Visual Robot Navigation
Shreya Gummadi, Mateus V. Gasparino, Deepak Vasisht +1
Centralized learning requires data to be aggregated at a central server, which poses significant challenges in terms of data privacy and bandwidth consumption. Federated learning p…
AdaCropFollow: Self-Supervised Online Adaptation for Visual Under-Canopy Navigation
Arun N. Sivakumar, Federico Magistri, Mateus V. Gasparino +3
Under-canopy agricultural robots can enable various applications like precise monitoring, spraying, weeding, and plant manipulation tasks throughout the growing season. Autonomous…
Learning to Turn: Diffusion Imitation for Robust Row Turning in Under-Canopy Robots
Arun N. Sivakumar, Pranay Thangeda, Yixiao Fang +4
Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception,…
W-RIZZ: A Weakly-Supervised Framework for Relative Traversability Estimation in Mobile Robotics
Andre Schreiber, Arun N. Sivakumar, Peter Du +3
Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with…
Lessons from Deploying CropFollow++: Under-Canopy Agricultural Navigation with Keypoints
Arun N. Sivakumar, Mateus V. Gasparino, Michael McGuire +3
We present a vision-based navigation system for under-canopy agricultural robots using semantic keypoints. Autonomous under-canopy navigation is challenging due to the tight spacin…
WayFASTER: a Self-Supervised Traversability Prediction for Increased Navigation Awareness
Mateus Valverde Gasparino, Arun Narenthiran Sivakumar, Girish Chowdhary
Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, incl…
Unmatched uncertainty mitigation through neural network supported model predictive control
Mateus V. Gasparino, Prabhat K. Mishra, Girish Chowdhary
This paper presents a deep learning based model predictive control (MPC) algorithm for systems with unmatched and bounded state-action dependent uncertainties of unknown structure.…
Deep Model Predictive Control
Prabhat K. Mishra, Mateus V. Gasparino, Andres E. B. Velasquez +1
This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state-dependent uncertainti…
WayFAST: Navigation with Predictive Traversability in the Field
Mateus Valverde Gasparino, Arun Narenthiran Sivakumar, Yixiao Liu +5
We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Way…
Learned Visual Navigation for Under-Canopy Agricultural Robots
Arun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino +4
We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and acco…
Multi-Sensor Fusion based Robust Row Following for Compact Agricultural Robots
Andres Eduardo Baquero Velasquez, Vitor Akihiro Hisano Higuti, Mateus Valverde Gasparino +3
This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging pr…
Deep Model Predictive Control with Stability Guarantees
Prabhat K. Mishra, Mateus V. Gasparino, Andres E. B. Velsasquez +1
This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state dependent uncertainti…