publications

2024

1. 

   A Study on the Use of Simulation in Synthesizing Path-Following Control Policies for Autonomous Ground Robots

   Harry Zhang , Stefan Caldararu , Aaron Young , and 8 more authors

   arXiv preprint arXiv:2403.18021, 2024

   Bib

   @article{harryPathFollowingControlPolicyComparison2024,
     title = {A Study on the Use of Simulation in Synthesizing Path-Following Control Policies for Autonomous Ground Robots},
     author = {Zhang, Harry and Caldararu, Stefan and Young, Aaron and Ruiz, Alexis and Unjhawala, Huzaifa and Mahajan, Ishaan and Ashokkumar, Sriram and Batagoda, Nevindu and Zhou, Zhenhao and Bakke, Luning and others},
     journal = {arXiv preprint arXiv:2403.18021},
     year = {2024},
   }

2. 

   Quantifying the Sim2real Gap for GPS and IMU Sensors

   Ishaan Mahajan , Huzaifa Unjhawala, Harry Zhang , and 7 more authors

   arXiv preprint arXiv:2403.11000, 2024

   Bib

   @article{ishaanGPSsim2realGap2024,
     title = {Quantifying the Sim2real Gap for {GPS} and {IMU} Sensors},
     author = {Mahajan, Ishaan and Unjhawala, Huzaifa and Zhang, Harry and Zhou, Zhenhao and Young, Aaron and Ruiz, Alexis and Caldararu, Stefan and Batagoda, Nevindu and Ashokkumar, Sriram and Negrut, Dan},
     journal = {arXiv preprint arXiv:2403.11000},
     year = {2024},
   }

3. 

   An Expeditious and Expressive Vehicle Dynamics Model for Applications in Controls and Reinforcement Learning

   Huzaifa Unjhawala, Thomas Hansen , Harry Zhang , and 6 more authors

   IEEE Access, 2024

   Bib

   @article{huzaifaIEEE-AccessCalibration2024,
     author = {Unjhawala, Huzaifa and Hansen, Thomas and Zhang, Harry and Caldraru, Stefan and Chatterjee, Shouvik and Bakke, Luning and Wu, Jinlong and Serban, Radu and Negrut, Dan},
     journal = {IEEE Access},
     title = {An Expeditious and Expressive Vehicle Dynamics Model for Applications in Controls and Reinforcement Learning},
     year = {2024},
     volume = {12},
     pages = {33000-33015},
     doi = {10.1109/ACCESS.2024.3368874},
   }

4. 

   A Set of Reduced Order Vehicle Models for Applications in Machine Learning, State Estimation, and Control

   Huzaifa Unjhawala

   2024

   Bib

   @phdthesis{Unjhawala2024,
     author = {Unjhawala, Huzaifa},
     title = {A Set of Reduced Order Vehicle Models for Applications in Machine Learning, State Estimation, and Control},
     school = {University of Wisconsin-Madison},
     year = {2024},
     address = {Madison, WI},
     type = {PhD dissertation},
     url = {http://digital.library.wisc.edu/1793/85062},
   }

2023

1. 

   A Chrono-Based Framework for Large-Scale Traffic Simulation with Human In The Loop

   Zhenhao Zhou , Huzaifa Unjhawala, Amudha Kamaraj , and 4 more authors

   In ECCOMAS Multibody Dyanmics Conference , 2023

   Bib

   @inproceedings{hilECCOMAS2023,
     title = {A Chrono-Based Framework for Large-Scale Traffic Simulation with Human In The Loop},
     author = {Zhou, Zhenhao and Unjhawala, Huzaifa and Kamaraj, Amudha and Kissel, Alexandra and Lee, John D. and Serban, Radu and Negrut, Dan},
     booktitle = {ECCOMAS Multibody Dyanmics Conference},
     year = {2023},
   }

2. 

   Using a Bayesian-inference approach to calibrating models for simulation in robotics

   Huzaifa Unjhawala, R. Zhang , W. Hu , and 3 more authors

   Journal of Computational and Nonlinear Dynamics, Apr 2023

   061004

   Bib

   @article{huzaifaBayesianJCND2023,
     title = {Using a {B}ayesian-inference approach to calibrating models for simulation in robotics},
     author = {Unjhawala, Huzaifa and Zhang, R. and Hu, W. and Wu, J. and Serban, R. and Negrut, D.},
     journal = {Journal of Computational and Nonlinear Dynamics},
     doi = {10.1115/1.4062199},
     url = {https://doi.org/10.1115/1.4062199},
     volume = {18},
     number = {6},
     year = {2023},
     month = apr,
     note = {061004},
     issn = {1555-1415},
   }

3. 

   Calibration of an expeditious terramechanics model using a higher-fidelity model, Bayesian inference, and a virtual bevameter test

   Wei Hu , Pei Li , Huzaifa Unjhawala, and 2 more authors

   Journal of Field Robotics, Apr 2023

   Bib

   @article{weiVirtualBevameter2023,
     title = {Calibration of an expeditious terramechanics model using a higher-fidelity model, {B}ayesian inference, and a virtual bevameter test},
     author = {Hu, Wei and Li, Pei and Unjhawala, Huzaifa and Serban, Radu and Negrut, Dan},
     journal = {Journal of Field Robotics},
     year = {2023},
     volume = {in-print},
     url = {\url{https://doi.org/10.1002/rob.22276}},
   }