24 citations · 67 across the 33 of their papers we have counts for
10 papers · 2 filters
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design
Jinsun Liu, Pengcheng Zhao, Zhenyu Gan +2
Online control design using a high-fidelity, full-order model for a bipedal robot can be challenging due to the size of the state space of the model. A commonly adopted solution to…
Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving
Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
Knowing and predicting dangerous factors within a scene are two key components during autonomous driving, especially in a crowded urban environment. To navigate safely in environme…
On-Demand Trajectory Predictions for Interaction Aware Highway Driving
Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
Highway driving places significant demands on human drivers and autonomous vehicles (AVs) alike due to high speeds and the complex interactions in dense traffic. Merging onto the h…
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra
Joshua G. Mangelson, Maani Ghaffari, Ram Vasudevan +1
An accurate characterization of pose uncertainty is essential for safe autonomous navigation. Early pose uncertainty characterization methods proposed by Smith, Self, and Cheeseman…
LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery
Junming Zhang, Manikandasriram Srinivasan Ramanagopal, Ram Vasudevan +1
An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matchi…
Technical Report: Safe, Aggressive Quadrotor Flight via Reachability-based Trajectory Design
Shreyas Kousik, Patrick Holmes, Ramanarayan Vasudevan
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achie…