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cs.RO2026
Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation
Ashwin Gupta, Joseph Moore
Stochastic single shooting trajectory optimization methods such as Model Predictive Path Integral control (MPPI) have been widely adopted in robotics due to their ability to reason…
cs.RO2025
Real-Time Planning and Control with a Vortex Particle Model for Fixed-Wing UAVs in Unsteady Flows
Ashwin Gupta, Kevin Wolfe, Gino Perrotta +1
Unsteady aerodynamic effects can have a profound impact on aerial vehicle flight performance, especially during agile maneuvers and in complex aerodynamic environments. In this pap…