Devansh Agrawal — accepted AI-conference papers

2024

Eclares: Energy-Aware Clarity-Driven Ergodic Search

Kaleb Ben Naveed, Devansh Agrawal, Christopher Vermillion, Dimitra Panagou

ICRA 2024poster

Planning informative trajectories while considering the spatial distribution of the information over the environment, as well as constraints such as the robot’s limited battery capacity, makes the long-time horizon persistent coverage problem complex. Ergodic search methods consider the spatial dist…

Cited by 7 Source ↗code ↗Scholar ↗

2023

gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments

Devansh Agrawal, Ruichang Chen, Dimitra Panagou

IROS 2023poster

This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method to ensure that nonlinear systems can operate safely in dynamic environments despite limited perception. gatekeeper integrates with existing path planners and feedback controllers by introducing an additi…

Cited by 9 Source ↗code ↗Scholar ↗