3 papers
cs.RO2025
Fast Navigation Through Occluded Spaces via Language-Conditioned Map Prediction
Rahul Moorthy Mahesh, Oguzhan Goktug Poyrazoglu, Yukang Cao +1
In cluttered environments, motion planners often face a trade-off between safety and speed due to uncertainty caused by occlusions and limited sensor range. In this work, we invest…
cs.RO2025
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control
Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu +1
Trajectory sampling is a key component of sampling-based control mechanisms. Trajectory samplers rely on control input samplers, which generate control inputs u from a distribution…
eess.SY2025
An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control
O. Goktug Poyrazoglu, Rahul Moorthy, Yukang Cao +2
Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sam…