no code implementations • 5 Oct 2021 • Akhil Nagariya, Dileep Kalathil, Srikanth Saripalli
Compared to the standard ILQR approach, our proposed approach achieves a 30% and 50% reduction in cross track error in Warthog and Moose, respectively, by utilizing only 30 minutes of real-world driving data.
no code implementations • 28 Jul 2020 • Akhil Nagariya, Srikanth Saripalli
We use model predictive control (MPC) to deal with model imperfections and perform extensive experiments to evaluate the performance of the controller on human driven reference trajectories with vehicle speeds of 3m/s- 4m/s for warthog and 7m/s-10m/s for the Polaris GEM