Zobrazeno 1 - 10
of 15
pro vyhledávání: '"Gopalakrishnan, Bharath"'
Autor:
Jyotish, P. S. Naga, Gopalakrishnan, Bharath, Kumar, A. V. S. Sai Bhargav, Singh, Arun Kumar, Krishna, K. Madhava, Manocha, Dinesh
The probabilistic velocity obstacle (PVO) extends the concept of velocity obstacle (VO) to work in uncertain dynamic environments. In this paper, we show how a robust model predictive control (MPC) with PVO constraints under non-parametric uncertaint
Externí odkaz:
http://arxiv.org/abs/2001.09007
In this paper, we present an efficient algorithm for solving a class of chance constrained optimization under non-parametric uncertainty. Our algorithm is built on the possibility of representing arbitrary distributions as functions in Reproducing Ke
Externí odkaz:
http://arxiv.org/abs/1811.09311
In this paper, we formulate a novel trajectory optimization scheme that takes into consideration the state uncertainty of the robot and obstacle into its collision avoidance routine. The collision avoidance under uncertainty is modeled here as an ove
Externí odkaz:
http://arxiv.org/abs/1806.09929
Autor:
Babu, Mithun, Theerthala, Raghu Ram, Singh, Arun Kumar, P., Baladhurgesh B., Gopalakrishnan, Bharath, Krishna, K. Madhava
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alternating minimization approach wherein linear velocities and angular a
Externí odkaz:
http://arxiv.org/abs/1803.03478
Autor:
Gopalakrishnan, Bharath, Singh, Arun Kumar, Kaushik, Meha, Krishna, K. Madhava, Manocha, Dinesh
We present Probabilistic Reciprocal Velocity Obstacle or PRVO as a general algorithm for navigating multiple robots under perception and motion uncertainty. PRVO is defined as the space of velocities that ensures dynamic collision avoidance between a
Externí odkaz:
http://arxiv.org/abs/1608.05829
Akademický článek
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Publikováno v:
IEEE Transactions on Control Systems Technology; May2022, Vol. 3 Issue 3, p901-916, 16p
Akademický článek
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Autor:
Nagariya, Akhil, Gopalakrishnan, Bharath, Singh, Arun Kumar, Gupta, Krishnam, Krishna, K. Madhava
Publikováno v:
2015 54th IEEE Conference on Decision & Control (CDC); 1/1/2015, p2773-2779, 7p
Publikováno v:
2015 IEEE/RSJ International Conference on Intelligent Robots & Systems (IROS); 2015, p4961-4968, 8p