4 papers · 1 filter
Multistep Belief Space Dynamics Learning For Risk-Aware Control
Jason Gibson, Bogdan Vlahov, Patrick Spieler +1
As autonomous vehicles move from a simplified research setting to practical use, there exists a large gap between the dynamic behavior of a human driving and an autonomous system.…
Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving
Jacob Levy, Jason Gibson, Bogdan Vlahov +4
High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interac…
Dynamics Modeling using Visual Terrain Features for High-Speed Autonomous Off-Road Driving
Jason Gibson, Anoushka Alavilli, Erica Tevere +2
Rapid autonomous traversal of unstructured terrain is essential for scenarios such as disaster response, search and rescue, or planetary exploration. As a vehicle navigates at the…
Low Frequency Sampling in Model Predictive Path Integral Control
Bogdan Vlahov, Jason Gibson, David D. Fan +3
Sampling-based model-predictive controllers have become a powerful optimization tool for planning and control problems in various challenging environments. In this paper, we show h…