S
Suman Chakravorty
Researcher at Texas A&M University
Publications - 145
Citations - 1422
Suman Chakravorty is an academic researcher from Texas A&M University. The author has contributed to research in topics: Stochastic control & Motion planning. The author has an hindex of 15, co-authored 139 publications receiving 1249 citations. Previous affiliations of Suman Chakravorty include University of Michigan & Texas A&M University System.
Papers
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Journal ArticleDOI
FIRM: Sampling-based feedback motion-planning under motion uncertainty and imperfect measurements
TL;DR: FIRM is introduced as an abstract framework, a multi-query approach for planning under uncertainty which is a belief-space variant of probabilistic roadmap methods and the so-called SLQG-FIRM, a concrete instantiation of FIRM that focuses on kinematic systems and then extends to dynamical systems by sampling in the equilibrium space.
Proceedings ArticleDOI
FIRM: Feedback controller-based information-state roadmap - A framework for motion planning under uncertainty
TL;DR: This paper generalizes the Probabilistic RoadMap framework to obtain a Feedback controller-based Information-state RoadMap (FIRM) that takes into account motion and sensing uncertainty in planning and shows how obstacles can be rigorously incorporated into planning on FIRM.
Journal ArticleDOI
The partition of unity finite element approach with hp-refinement for the stationary Fokker-Planck equation
TL;DR: The stationary Fokker–Planck equation is solved for nonlinear dynamical systems using a local numerical technique based on the meshless partition of unity finite element method (PUFEM) to be an excellent candidate for higher dimensional problems and the transient problem.
Journal ArticleDOI
A semianalytic meshless approach to the transient Fokker–Planck equation
TL;DR: In this paper, a semianalytic partition of unity finite element method (PUFEM) is presented to solve the transient Fokker-Planck equation (FPE) for high-dimensional nonlinear dynamical systems.
Proceedings ArticleDOI
Robust online belief space planning in changing environments: Application to physical mobile robots
Ali-akbar Agha-mohammadi,Saurav Agarwal,Aditya Mahadevan,Suman Chakravorty,Daniel Tomkins,Jory Denny,Nancy M. Amato +6 more
TL;DR: This paper proposes a dynamic replanning scheme in belief space and uses techniques to cope with changes in the environment and unforeseen large deviations in the robot's location, which demonstrates that belief space planning is a practical tool for robot motion planning.