2 citations · 2 across the 3 of their papers we have counts for
3 papers · 1 filter
SCRAMPPI: Contingency-Constrained Planning using Hamilton-Jacobi Reachability
Raj Harshit Srirangam, Leonard Jung, Rohith Poola +1
Autonomous robots commonly aim to achieve a nominal objective while minimizing a cost. Without contingency preparation, this can leave them vulnerable to mission failure. This is f…
Real-Time Adaptive Motion Planning via Point Cloud-Guided, Energy-Based Diffusion and Potential Fields
Wondmgezahu Teshome, Kian Behzad, Octavia Camps +3
Motivated by the problem of pursuit-evasion, we present a motion planning framework that combines energy-based diffusion models with artificial potential fields for robust real tim…
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…