172 citations · 924 across the 40 of their papers we have counts for
14 papers · 1 filter
Reinforcement Learning-Based Air Traffic Deconfliction
Denis Osipychev, Dragos Margineantu, Girish Chowdhary
Remain Well Clear, keeping the aircraft away from hazards by the appropriate separation distance, is an essential technology for the safe operation of uncrewed aerial vehicles in c…
Proactive Anomaly Detection for Robot Navigation with Multi-Sensor Fusion
Tianchen Ji, Arun Narenthiran Sivakumar, Girish Chowdhary +1
Despite the rapid advancement of navigation algorithms, mobile robots often produce anomalous behaviors that can lead to navigation failures. The ability to detect such anomalous b…
Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment
Shivani Kamtikar, Samhita Marri, Benjamin Walt +3
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as i…
WayFAST: Navigation with Predictive Traversability in the Field
Mateus Valverde Gasparino, Arun Narenthiran Sivakumar, Yixiao Liu +5
We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Way…
Learned Visual Navigation for Under-Canopy Agricultural Robots
Arun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino +4
We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and acco…
Multi-Sensor Fusion based Robust Row Following for Compact Agricultural Robots
Andres Eduardo Baquero Velasquez, Vitor Akihiro Hisano Higuti, Mateus Valverde Gasparino +3
This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging pr…
Multi-agent Aerial Monitoring of Moving Convoys using Elliptical Orbits
Aseem Vivek Borkar, Girish Chowdhary
We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-va…
High Precision Control of Tracked Field Robots in the Presence of Unknown Traction Coefficients
Erkan Kayacan, Sierra N. Young, Joshua M. Peschel +1
Accurate steering through crop rows that avoids crop damage is one of the most important tasks for agricultural robots utilized in various field operations, such as monitoring, mec…
Tracking error learning control for precise mobile robot path tracking in outdoor environment
Erkan Kayacan, Girish Chowdhary
This paper presents a Tracking-Error Learning Control (TELC) algorithm for precise mobile robot path tracking in off-road terrain. In traditional tracking error-based control appro…
High precision control and deep learning-based corn stand counting algorithms for agricultural robot
Zhongzhong Zhang, Erkan Kayacan, Benjamin Thompson +1
This paper presents high precision control and deep learning-based corn stand counting algorithms for a low-cost, ultra-compact 3D printed and autonomous field robot for agricultur…
Multi-Modal Anomaly Detection for Unstructured and Uncertain Environments
Tianchen Ji, Sri Theja Vuppala, Girish Chowdhary +1
To achieve high-levels of autonomy, modern robots require the ability to detect and recover from anomalies and failures with minimal human supervision. Multi-modal sensor signals c…
Asynchronous Deep Model Reference Adaptive Control
Girish Joshi, Jasvir Virdi, Girish Chowdhary
In this paper, we present Asynchronous implementation of Deep Neural Network-based Model Reference Adaptive Control (DMRAC). We evaluate this new neuro-adaptive control architectur…
Elastica: A compliant mechanics environment for soft robotic control
Noel Naughton, Jiarui Sun, Arman Tekinalp +2
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodol…
Can Co-robots Learn to Teach?
Harshal Maske, Emily Kieson, Girish Chowdhary +1
We explore beyond existing work on learning from demonstration by asking the question: Can robots learn to teach?, that is, can a robot autonomously learn an instructional policy f…