6 citations · 6 across the 3 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…
Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization
Simon Idoko, Prajyot Jadhav, Arun Kumar Singh
Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planni…
-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…
Differentiable-Optimization Based Neural Policy for Occlusion-Aware Target Tracking
Houman Masnavi, Arun Kumar Singh, Farrokh Janabi-Sharifi
Tracking a target in cluttered and dynamic environments is challenging but forms a core component in applications like aerial cinematography. The obstacles in the environment not o…