3 papers
cs.RO2024
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…
cs.RO2024
ATPPNet: Attention based Temporal Point cloud Prediction Network
Kaustab Pal, Aditya Sharma, Avinash Sharma +1
Point cloud prediction is an important yet challenging task in the field of autonomous driving. The goal is to predict future point cloud sequences that maintain object structures…
cs.RO2023
NeuroSMPC: A Neural Network guided Sampling Based MPC for On-Road Autonomous Driving
Kaustab Pal, Aditya Sharma, Mohd Omama +2
In this paper we show an effective means of integrating data driven frameworks to sampling based optimal control to vastly reduce the compute time for easy adoption and adaptation…