Venkatraman Renganathan — accepted AI-conference papers

2023

Distributionally Robust RRT with Risk Allocation

Kajsa Ekenberg, Venkatraman Renganathan, Björn Olofsson

ICRA 2023poster

An integration of distributionally robust risk allocation into sampling-based motion planning algorithms for robots operating in uncertain environments is proposed. We perform non-uniform risk allocation by decomposing the distributionally robust joint risk constraints defined over the entire planni…

Cited by 3 Source ↗Scholar ↗

2021

Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty

Sleiman Safaoui, Benjamin J. Gravell, Venkatraman Renganathan, Tyler H. Summers

IROS 2021poster

We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant that incorporates nonlinear dynamics by solving a nonlinear program (NLP) and accounts for risk by approximating the sta…

Cited by 29 Source ↗code ↗Scholar ↗