Publications

Journal Articles

Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties

IEEE Robotics and Automation Letters, 2025

Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas, Michael Everett, Taşkin Padır
Paper | Video | Code | Website

Peer-Reviewed Publications

* = Equal Contribution

Spectral Signature Mapping from RGB Imagery for Terrain-Aware Navigation

IEEE Conference on Robotic Computing & Communication, 2025

Sarvesh Prajapati, Ananya Trivedi, Nathaniel Hanson, Bruce Maxwell, Taşkin Padır
Paper | Code

Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning

IEEE Conference on Automation Science and Engineering, 2025

Neşet Ünver Akmandor, Sarvesh Prajapati*, Mark Zolotas*, Taşkin Padır
Paper | Code

Data-Driven Sampling-Based Stochastic MPC for Skid-Steer Mobile Robot Navigation

IEEE Conference on Robotics and Automation, 2025

Ananya Trivedi, Sarvesh Prajapati, Anway Shirgaonkar, Mark Zolotas, Taşkin Padır
Paper | Video | Code | Website

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