Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning
Under Review
Neşet Ünver Akmandor, Sarvesh Prajapati, Mark Zolotas, Taşkin Padır
Publications
Pre-prints
Data-Driven Sampling-Based Stochastic MPC for Skid-Steer Mobile Robot Navigation
Under Review
Ananya Trivedi, Sarvesh Prajapati, Anway Shirgaonkar, Mark Zolotas, Taşkin Padır
Paper | Video | Code | Website
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
Under Review
Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas, Michael Everett, Taşkin Padır
Paper | Video | Code | Website
Peer-Reviewed Publications
* = Equal Contribution
Forest Biomass Mapping with Terrestrial Hyperspectral Imaging for Wildfire Risk Monitoring
IEEE International Symposium on Safety, Security, and Rescue Robotics, 2024
Nathaniel Hanson*, Sarvesh Prajapati*, James Tukpah, Yash Mewada, Taşkin Padır
Paper
A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains
IEEE Conference on Robotics and Automation, 2024
Ananya Trivedi, Mark Zolotas, Adeeb Abbas, Sarvesh Prajapati, Salah Bazzi, Taşkin Padır
Paper | Video | Code
Integrated Aerobic Exercise into Adult Second Language Learning in Virtual Reality Game
IEEE Conference on Games, 2023
Yijun Qian, Sarvesh Prajapati, Anna Schwartz, Ara Jung, Uri Seitz, Joshua Van Alfen, Lara Lewis, Miso Kim, Art Kramer, Leanne Chukoskie
Paper
Workshop Papers
Predictive Mapping of Spectral Signatures from RGB Imagery for Off-Road Terrain Analysis
IEEE Conference on Robotics and Automation Workshop on Resilient Off-road Autonomy, 2024
Sarvesh Prajapati, Ananya Trivedi, Bruce Maxwell, Taşkin Padır
Paper | Code | Poster
Online Refinement of Uncertainty Sets for Robust MPC of Quadrupedal Robots Using Convex Cone Programming
IEEE Conference on Robotics and Automation Workshop on Advancements in Trajectory Optimization and Model Predictive Control for Legged Systems, 2024
Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas, Taşkin Padır
Paper | Poster