2 papers
cs.RO2025
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
Anoushka Alavilli, Khai Nguyen, Sam Schoedel +2
Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is o…
cs.RO2024
Dynamics Modeling using Visual Terrain Features for High-Speed Autonomous Off-Road Driving
Jason Gibson, Anoushka Alavilli, Erica Tevere +2
Rapid autonomous traversal of unstructured terrain is essential for scenarios such as disaster response, search and rescue, or planetary exploration. As a vehicle navigates at the…