11 citations · 30 across the 6 of their papers we have counts for
7 papers
Occlusion-Aware, Quasi-Static, Stability-Oriented Trajectory Planning on Uneven Terrain
Amith Manoharan, Chinmay Mundane, Aayush Bahukhandi +3
Autonomous navigation in unstructured off-road environments requires reasoning about both vehicle--terrain interaction and environmental unknowns. We propose a model-based framewor…
Momentum Based Reward Design for Low Emission Traffic Signal Control
Chinmay Mundane, Amith Manoharan, Arun Kumar Singh
Urban traffic congestion is a growing global issue contributing significantly to long commute times and environmental pollution. Traditional traffic signal control systems often fa…
-MPPI: A Projection-based Model Predictive Path Integral Scheme for Smooth Optimal Control of Fixed-Wing Aerial Vehicles
Edvin Martin Andrejev, Amith Manoharan, Karl-Eerik Unt +1
Model Predictive Path Integral (MPPI) is a popular sampling-based Model Predictive Control (MPC) algorithm for nonlinear systems. It optimizes trajectories by sampling control sequ…
Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model
Amith Manoharan, Aditya Sharma, Himani Belsare +3
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof var…
Nonlinear Model Predictive Control Framework For Cooperative Three-Agent Target Defense Game
Amith Manoharan, P. B. Sujit
This paper presents cooperative target defense guidance strategies using nonlinear model predictive control (NMPC) framework for a target-attacker-defender (TAD) game. The TAD game…
Multi-AAV Cooperative Path Planning using Nonlinear Model Predictive Control with Localization Constraints
Amith Manoharan, Rajnikanth Sharma, P. B. Sujit
In this paper, we solve a joint cooperative localization and path planning problem for a group of Autonomous Aerial Vehicles (AAVs) in GPS-denied areas using nonlinear model predic…
NMPC-Based Cooperative Strategy For A Target Pair To Lure Two Attackers Into Collision
Amith Manoharan, P. B. Sujit
This paper presents a cooperative target defense strategy using nonlinear model-predictive control (NMPC) framework for a two--targets two--attackers (2T2A) game. The 2T2A game con…