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09/15/2023
PRIEST: Projection Guided Sampling-Based Optimization For Autonomous Navigation
Efficient navigation in unknown and dynamic environments is crucial for ...
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03/08/2023
AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments
This paper presents a scalable online algorithm to generate safe and kin...
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12/05/2022
Bi-Level Optimization Augmented with Conditional Variational Autoencoder for Autonomous Driving in Dense Traffic
Autonomous driving has a natural bi-level structure. The goal of the upp...
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08/05/2022
Leveraging Distributional Bias for Reactive Collision Avoidance under Uncertainty: A Kernel Embedding Approach
Many commodity sensors that measure the robot and dynamic obstacle's sta...
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03/14/2022
Drift Reduced Navigation with Deep Explainable Features
Modern autonomous vehicles (AVs) often rely on vision, LIDAR, and even r...
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03/07/2022
Detection of AI Synthesized Hindi Speech
The recent advancements in generative artificial speech models have made...
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12/24/2021
Non Holonomic Collision Avoidance of Dynamic Obstacles under Non-Parametric Uncertainty: A Hilbert Space Approach
We consider the problem of an agent/robot with non-holonomic kinematics ...
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12/22/2021
Real-Time Multi-Convex Model Predictive Control for Occlusion Free Target Tracking
This paper proposes a Model Predictive Control (MPC) algorithm for targe...
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10/06/2021
CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning
We present CCO-VOXEL: the very first chance-constrained optimization (CC...
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09/27/2021
GPU Accelerated Batch Multi-Convex Trajectory Optimization for a Rectangular Holonomic Mobile Robot
We present a batch trajectory optimizer that can simultaneously solve hu...
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09/26/2021
Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures
Most commercially available fixed-wing aerial vehicles (FWV) can carry o...
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07/23/2021
Using Deep Learning Techniques and Inferential Speech Statistics for AI Synthesised Speech Recognition
The recent developments in technology have re-warded us with amazing aud...
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11/09/2020
GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization
In this paper, we present a computationally efficient trajectory optimiz...
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11/01/2020
Fast Adaptation of Manipulator Trajectories to Task Perturbation By Differentiating through the Optimal Solution
Joint space trajectory optimization under end-effector task constraints ...
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10/24/2020
Neural Compound-Word (Sandhi) Generation and Splitting in Sanskrit Language
This paper describes neural network based approaches to the process of t...
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10/24/2020
A Benchmark Corpus and Neural Approach for Sanskrit Derivative Nouns Analysis
This paper presents first benchmark corpus of Sanskrit Pratyaya (suffix)...
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01/21/2020
Reactive Navigation under Non-Parametric Uncertainty through Hilbert Space Embedding of Probabilistic Velocity Obstacles
The probabilistic velocity obstacle (PVO) extends the concept of velocit...
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04/22/2019
Inducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile Manipulators
In this paper, we propose a novel trajectory optimization algorithm for ...
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11/22/2018
Solving Chance Constrained Optimization under Non-Parametric Uncertainty Through Hilbert Space Embedding
In this paper, we present an efficient algorithm for solving a class of ...
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03/10/2018
Combining Method of Alternating Projections and Augmented Lagrangian for Task Constrained Trajectory Optimization
Motion planning for manipulators under task space constraints is difficu...
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03/09/2018
Model Predictive Control for Autonomous Driving considering Actuator Dynamics
In this paper, we propose a new model predictive control (MPC) formulati...
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12/13/2017
Trajectory Optimization for Curvature Bounded Non-Holonomic Vehicles: Application to Autonomous Driving
In this paper, we propose a trajectory optimization for computing smooth...
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12/13/2017