5 papers
Online identification of skidding modes with interactive multiple model estimation
Ameya Salvi, Pardha Sai Krishna Ala, Jonathon M. Smereka +4
Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Ch…
Stabilization of vertical motion of a vehicle on bumpy terrain using deep reinforcement learning
Ameya Salvi, John Coleman, Jake Buzhardt +2
Stabilizing vertical dynamics for on-road and off-road vehicles is an important research area that has been looked at mostly from the point of view of ride comfort. The advent of a…
Multi-Agent Deep Reinforcement Learning for Cooperative and Competitive Autonomous Vehicles using AutoDRIVE Ecosystem
Tanmay Vilas Samak, Chinmay Vilas Samak, Venkat Krovi
This work presents a modular and parallelizable multi-agent deep reinforcement learning framework for imbibing cooperative as well as competitive behaviors within autonomous vehicl…
Contrastive Representation Disentanglement for Clustering
Fei Ding, Dan Zhang, Yin Yang +2
Clustering continues to be a significant and challenging task. Recent studies have demonstrated impressive results by applying clustering to feature representations acquired throug…
A Failure Identification and Recovery Framework for a Planar Reconfigurable Cable Driven Parallel Robot
Adhiti Raman, Ian Walker, Venkat Krovi +1
In cable driven parallel robots (CDPRs), a single cable malfunction usually induces complete failure of the entire robot. However, the lost static workspace (due to failure) can of…