29 citations · 29 across the 2 of their papers we have counts for
5 papers
Active Disturbance Rejection Control for Trajectory Tracking of a Seagoing USV: Design, Simulation, and Field Experiments
Jelmer van der Saag, Elia Trevisan, Wouter Falkena +1
Unmanned Surface Vessels (USVs) face significant control challenges due to uncertain environmental disturbances like waves and currents. This paper proposes a trajectory tracking c…
Dynamic Risk-Aware MPPI for Mobile Robots in Crowds via Efficient Monte Carlo Approximations
Elia Trevisan, Khaled A. Mustafa, Godert Notten +2
Deploying mobile robots safely among humans requires the motion planner to account for the uncertainty in the other agents' predicted trajectories. This remains challenging in trad…
Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary Controllers
Elia Trevisan, Javier Alonso-Mora
Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-bas…
Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning
Yuezhe Zhang, Corrado Pezzato, Elia Trevisan +3
Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a…
Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictions
Walter Jansma, Elia Trevisan, Álvaro Serra-Gómez +1
Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and plan…