David J. Gorsich — accepted AI-conference papers

2025

Online Identification of Skidding Modes with Interactive Multiple Model Estimation

Amey A. Salvi, Pardha Sai Krishna Ala, Jonathon M. Smereka, Mark J. Brudnak, David J. Gorsich, Matthias J. Schmid +1

ICRA 2025

Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Characterizing these interactions is crucial from both the immediate robot autonomy perspective (for motion prediction and

Cited by 4 Source ↗code ↗Scholar ↗

2023

Data-Driven Modeling and Experimental Validation of Autonomous Vehicles Using Koopman Operator: Distribution A: Approved for Public Release; Distribution Unlimited. OPSEC # 7248

Ajinkya Joglekar, Sarang Sutavani, Chinmay Vilas Samak, Tanmay Vilas Samak, Krishna Chaitanya Kosaraju, Jonathon M. Smereka +3

IROS 2023

This paper presents a data-driven framework to discover underlying dynamics on a scaled F1TENTH vehicle using the Koopman operator linear predictor. Traditionally, a range of white, gray, or black-box models are used to develop controllers for vehicle path tracking. However, these models are constra

Cited by 2 Source ↗Scholar ↗