2 papers
cs.RO2025
Multi-layer Motion Planning with Kinodynamic and Spatio-Temporal Constraints
Jeel Chatrola, Abhiroop Ajith, Kevin Leahy +1
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes pot…
eess.SY2022
Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes
Sandeep Gorantla, Jeel Chatrola, Jay Bhagiya +2
This paper aims to synthesize a reachability controller for an unknown dynamical system. We first learn the unknown system using Gaussian processes and the (probabilistic) guarante…