Search Results - "Vaskov, Sean"

Bridging the gap between safety and real-time performance in receding-horizon trajectory design for mobile robots by Kousik, Shreyas, Vaskov, Sean, Bu, Fan, Johnson-Roberson, Matthew, Vasudevan, Ram

“…To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they…”
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Friction-adaptive stochastic nonlinear model predictive control for autonomous vehicles by Vaskov, Sean, Quirynen, Rien, Menner, Marcel, Berntorp, Karl

“…This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model…”
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Fast and Safe Trajectory Optimization for Autonomous Mobile Robots Using Reachability Analysis by Vaskov, Sean K

“…Autonomous mobile robots (AMRs) can transform a wide variety of industries including transportation, shipping and goods delivery, and defense. AMRs must match…”
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Do No Harm: A Counterfactual Approach to Safe Reinforcement Learning by Vaskov, Sean, Schwarting, Wilko, Baker, Chris L

“…Reinforcement Learning (RL) for control has become increasingly popular due to its ability to learn rich feedback policies that take into account uncertainty…”
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Cornering Stiffness Adaptive, Stochastic Nonlinear Model Predictive Control for Vehicles by Vaskov, Sean, Berntorp, Karl, Quirynen, Rien

“…The vehicle control behavior is highly dependent on the road surface. However, accurate and precise models for the tire-road interaction are typically unknown…”
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Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles by Vaskov, Sean, Quirynen, Rien, Menner, Marcel, Berntorp, Karl

“…This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model…”
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Joint Tire-Stiffness and Vehicle-Inertial Parameter Estimation for Improved Predictive Control by Berntorp, Karl, Quirynen, Rien, Vaskov, Sean

“…This paper presents a method for online estimation of linear friction (i.e., tire stiffness) and inertial parameters (i.e., mass and inertia) using sensors…”
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Friction-Adaptive Stochastic Predictive Control for Trajectory Tracking of Autonomous Vehicles by Vaskov, Sean, Quirynen, Rien, Menner, Marcel, Berntorp, Karl

“…This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We develop a stochastic nonlinear…”
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Guaranteed Safe Reachability-based Trajectory Design for a High-Fidelity Model of an Autonomous Passenger Vehicle by Vaskov, Sean, Sharma, Utkarsh, Kousik, Shreyas, Johnson-Roberson, Matthew, Vasudevan, Ramanarayan

“…Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new…”
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Not-at-Fault Driving in Traffic: A Reachability-Based Approach by Vaskov, Sean, Larson, Hannah, Kousik, Shreyas, Johnson-Roberson, Matthew, Vasudevan, Ram

“…To operate in traffic, autonomous vehicles must plan long trajectories (e.g., unprotected left turns across traffic) and validate that they are not-at-fault in…”
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Guaranteed Safe Reachability-based Trajectory Design for a High-Fidelity Model of an Autonomous Passenger Vehicle by Vaskov, Sean, Sharma, Utkarsh, Kousik, Shreyas, Johnson-Roberson, Matthew, Vasudevan, Ramanarayan

“…Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new…”
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Safe Trajectory Synthesis for Autonomous Driving in Unforeseen Environments by Kousik, Shreyas, Vaskov, Sean, Johnson-Roberson, Matthew, Vasudevan, Ramanarayan

“…Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the…”
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Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots by Kousik, Shreyas, Vaskov, Sean, Bu, Fan, Johnson-Roberson, Matthew, Vasudevan, Ram

“…To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they…”
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Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments by Vaskov, Sean, Kousik, Shreyas, Larson, Hannah, Bu, Fan, Ward, James, Worrall, Stewart, Johnson-Roberson, Matthew, Vasudevan, Ram

“…As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their…”
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