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These Maps Are Made For Walking: Real-Time Terrain Property Estimation for Mobile Robots



Parker Ewen , Adam Li , Yuxin Chen , Steven Hong , Ram Vasudevan


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Lie Algebraic Cost Function Design for Control on Lie Groups



Sangli Teng , William Clark , Anthony Bloch , Ram Vasudevan , Maani Ghaffari

* 8 pages 

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Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model



Sangli Teng , Amit K. Sanyal , Ram Vasudevan , Anthony Bloch , Maani Ghaffari

* Accepted to 2022 American Control Conference (ACC) 

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Coupling Intent and Action for Pedestrian Crossing Behavior Prediction



Yu Yao , Ella Atkins , Matthew Johnson Roberson , Ram Vasudevan , Xiaoxiao Du

* 7pages, 4 figures, 3 tables. Accepted to IJCAI2021 

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Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation



Parker Ewen , Jean-Pierre Sleiman , Yuxin Chen , Wei-Chun Lu , Marco Hutter , Ram Vasudevan


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A Kinematic Model for Trajectory Prediction in General Highway Scenarios



Cyrus Anderson , Ram Vasudevan , Matthew Johnson-Roberson

* 8 pages, 4 figures, 1 table 

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Learning Rotation-Invariant Representations of Point Clouds Using Aligned Edge Convolutional Neural Networks



Junming Zhang , Ming-Yuan Yu , Ram Vasudevan , Matthew Johnson-Roberson

* 3D Vision Conference 2020 

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Reachability-based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control



Yifei Simon Shao , Chen Chao , Shreyas Kousik , Ram Vasudevan


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Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics



Daniel Bruder , Xun Fu , Ram Vasudevan


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Trip Recovery in Lower-Limb Prostheses using Reachable Sets of Predicted Human Motion



Shannon M. Danforth , Patrick D. Holmes , Ram Vasudevan

* 8 pages, 3 figures 

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