R
Raghvendra V. Cowlagi
Researcher at Worcester Polytechnic Institute
Publications - 51
Citations - 748
Raghvendra V. Cowlagi is an academic researcher from Worcester Polytechnic Institute. The author has contributed to research in topics: Motion planning & Path (graph theory). The author has an hindex of 13, co-authored 48 publications receiving 665 citations. Previous affiliations of Raghvendra V. Cowlagi include Georgia Institute of Technology & Massachusetts Institute of Technology.
Papers
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Journal ArticleDOI
Highlights from the literature on accident causation and system safety: Review of major ideas, recent contributions, and challenges
TL;DR: It is suggested that more fundamental research and cross-talk across several academic disciplines must be supported and incentivized for tackling the multi-disciplinary issues of accident causation and system safety, and two ideas that are emerging as foundational in the literature on system safety and accident causation are discussed, namely that system safety is a “control problem” and that it requires a system theoretic approach to be dealt with.
Proceedings ArticleDOI
Optimal motion planning with the half-car dynamical model for autonomous high-speed driving
Jeong hwan Jeon,Raghvendra V. Cowlagi,Steven C. Peters,Sertac Karaman,Emilio Frazzoli,Panagiotis Tsiotras,Karl Iagnemma +6 more
TL;DR: An implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving and observes that the motion of a special point can be modeled as a double integrator augmented with fictitious inputs.
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Hierarchical Motion Planning With Dynamical Feasibility Guarantees for Mobile Robotic Vehicles
TL;DR: The proposed iterative algorithm is suitable for real-time implementations, where hard bounds on the available computation time are imposed, and where the original H-cost optimization algorithm may not have sufficient time to converge to a solution at all.
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Coordinability and consistency in accident causation and prevention: formal system theoretic concepts for safety in multilevel systems
TL;DR: This work introduces the notions of coordinability and consistency from the hierarchical and multilevel systems theory literature and investigates the applicability and the importance of these concepts to accident causation and safety.
Proceedings ArticleDOI
Incremental path repair in hierarchical motion-planning with dynamical feasibility guarantees for mobile robotic vehicles
TL;DR: A graph-search algorithm that operates on sequences of vertices and a lower level planner that ensures consistency between the two levels of hierarchy by providing meaningful costs for the edge transitions of a higher level planner using dynamically feasible, collision-free trajectories are proposed.