11 citations · 30 across the 6 of their papers we have counts for
4 papers · 1 filter
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…
-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…
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…