Publications

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

IEEE Robotics and Automation Letters, 2025

Best Paper Finalist (Top 3), IEEE RAS Technical Committee on Optimization for Robotics

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

Universal Navigation Interface: Robot-Free Data for Wheeled Robot Navigation

Under Review

Sarvesh Prajapati, Ananya Trivedi*, Lorena Maria Genua*, Drake Moore, Taşkin Padır
Paper | Website

Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations

Under Review

Ananya Trivedi, Sarvesh Prajapati, Zhexin Xu, Mohamed Khalid M Jaffar, David Rosen, Taşkin Padır
Paper | Website

Layered Risk Mapping for Autonomous Patient Transport in Expeditionary Medical Facilities

IEEE International Symposium on Safety, Security, and Rescue Robotics, 2026

Lorena Maria Genua, Sarvesh Prajapati, Damla Leblebicioglu, Taşkin Padır
Paper | Website

Spectral Signature Mapping from RGB Imagery for Terrain-Aware Navigation

IEEE International Conference on Robotic Computing, 2025

Best Paper Award

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 International 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 International 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 International 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

Universal Navigation Interface: Robot-Free Data for Wheeled Robot Navigation

IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop on Data in Field Robotics: From State Estimation to Navigation, 2026

Best Student Paper Award

Sarvesh Prajapati, Ananya Trivedi*, Lorena Maria Genua*, Drake Moore, Taşkin Padır
Paper

Shades of Success: Characterizing Manipulation Quality through Object-Centric Constraints

IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop on Geometric Representations in Robotics, 2026

Best Paper Award

Lorena Maria Genua, Sarvesh Prajapati, Ananya Trivedi, Taşkin Padır
Paper

Predictive Mapping of Spectral Signatures from RGB Imagery for Off-Road Terrain Analysis

IEEE International 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 International 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