Ananya Trivedi

Hello.. My name is Ananya Trivedi.

I completed my M.S. in Electrical & Computer Engineering at the University of Michigan, where I focused on signal processing and control systems. Following this, I worked at Torc Robotics as a Motion Planning & Controls Software Engineer, developing algorithms for high-level decision-making and path planning in autonomous driving systems. Currently, I am a Ph.D. student and Research Assistant in the RIVeR Lab at Northeastern University, where I focus on robust motion planning and control for robotic systems under uncertainty.

Email / Resume / LinkedIn / Scholar

Projects

My research centers on developing robust, computationally efficient, and verifiable algorithms for motion planning and control under uncertainty. By integrating data-driven approaches with stochastic optimal control, I aim to create principled methods that deliver reliable performance across diverse robotic platforms.

	Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas, Michael Everett, Taşkin Padır IEEE Robotics and Automation Letters Framework for safe, adaptable quadrupedal locomotion, modeling disturbances from terrain and load variability. Project Page / Code / Video / arXiv
	Data-Driven Sampling-Based Stochastic MPC for Skid-Steer Mobile Robot Navigation Ananya Trivedi, Sarvesh Prajapati, Anway Shirgaonkar, Mark Zolotas, Taşkin Padır IEEE ICRA 2025 Gaussian Process-enhanced dynamics with chance-constrained MPPI enable uncertainty-aware path-following and obstacle avoidance across diverse terrains. Project Page / Code / Video / arXiv
	A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains Ananya Trivedi, Mark Zolotas, Adeeb Abbas, Mark Zolotas, Sarvesh Prajapati, Taşkin Padır IEEE ICRA 2024, IEEE ICAA 2023 (Workshop) A data-driven dynamic model for skid-steer robots leverages Gaussian Process Regression to improve motion prediction across varied terrains. Code / Video / Paper / Workshop
	Predictive Mapping of Spectral Signatures from RGB Imagery for Off-Road Terrain Analysis Sarvesh Prajapati,, Ananya Trivedi, Bruce Maxwell, Taşkin Padır IEEE ICRA 2024, Workshop on Resilient Off-road Autonomy RS-Net maps RGB images to spectral signatures for low-cost, accurate terrain characterization in off-road robot planning. Code / Poster / Paper
	Online Refinement of Uncertainty Sets for Robust MPC of Quadrupedal Robots Using Convex Cone Programming Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas, Taşkin Padır IEEE ICRA 2024, Workshop on Advancements in Trajectory Optimization and Model Predictive Control for Legged Systems A framework for robust quadruped locomotion under uncertain payloads, uneven terrains, and frictional variability. Poster / Paper
	Motion Planning & Controls Software Engineer -- Torc Robotics Developed and optimized algorithms for high-level decision-making, path planning, and motion control in a Level-4 autonomous driving stack for self-driving cars and tractor-trailers. Collaborated with cross-functional teams to ensure seamless integration and reliable operation of motion planning components, while also serving as Scrum Master to enhance workflow alignment.
	Atmospheric Sensing with Miniaturized Robotic Vehicles -- MDP Developed miniaturized drone control systems with integrated sensors to map atmospheric conditions. Designed PCB layouts in Altium, and machine learning algorithms for data post- processing.
	Supporting Aging In Place Through Multimodal Sensing Led robotics efforts to develop a mobile platform for non-invasive patient health assessment. Deployed real-time health monitoring algorithms on the robot, including body pose detection and vital signs estimation Designed an autonomous navigation framework with patient-following capabilities using the Stretch RE1 mobile manipulator.