Prakhar Gupta

About Me

I am a Ph.D student at Clemson University - ICAR and my research focus is robotics and controls. Specifically, I study combined utilization of model-based and deep learning-based control techniques to improve vehicle behavior under unknowns. You can view my key projects on the Projects page.

All of my research and development experiences, publications, and awards are listed on my CV page.

XiL setup for CAV control and planning

Key Research Question

"How can we leverage the individual strengths of model-based and learning-based methods to improve off-road driving controls and planning algorithms under unknown dynamics?"

Key Skills & Experience

Research Topics
Learning for Controls Planning & Controls Vehicle Autonomy Reinforcement Learning
On-Platform (Vehicle/Robot)
HiL / ViL Drive-by-Wire Systems Integration
Tools & Platforms
ROS, ROS2 Linux C++ / Python Pytorch Git Simulink / MATLAB

Publications

Conference Papers:
  1. Actor-Critic Cooperative Compensation to Model Predictive Control for Off-Road Autonomous Vehicles Under Unknown Dynamics
    Prakhar Gupta, Jonathon M. Smereka, Yunyi Jia
    IEEE International Conference on Robotics and Automation (ICRA), 2025.
  2. A Review of Off-Road Datasets, Sensor Technologies and Terrain Traversability Analysis
    Hannah Musau, Denis Ruganuza, Debbie Indah, Arthur Mukwaya, Nana Kankam Gyimah, Ashish Patil, Mayuresh Bhosale, Prakhar Gupta, Judith Mwakalonge, Yunyi Jia, Dariusz Mikulski, David Grabowsky, Jae Dong Hong, Saidi Siuhi
    SAE Technical Paper, 2025.
  3. Driver Interaction with An Eco-Speed Advisory System in Connected Vehicles: Simulation and Experimental Results
    Jihun Han, Tyler Ard, Prakhar Gupta, Rongyao Wang, Ardalan Vahidi, Yunyi Jia, Dominik Karbowski
    Proceeding of Transportation Research Board, 2024.
      Winner, Best Paper Award
  4. Safety-Regulated Reinforcement Learning Compensated Model Predictive Control for Ground Vehicles with Unknown Disturbances
    Prakhar Gupta, Yunyi Jia
    SAE Technical Paper, GVSETS, 2024.
  5. AI-Enhanced Proactive Model Predictive Control for Off-Road Autonomous Vehicles
    Mayuresh Bhosale, Prakhar Gupta, Rahul Prasanna Kumar, Yunyi Jia, Greenville, SC
    SAE Technical Paper, GVSETS, 2024.
  6. An X-in-the-Loop (XIL) Testing Framework for Validation of Connected and Autonomous Vehicles
    Prakhar Gupta, Rongyao Wang, Tyler Ard, Jihun Han, Dominik Karbowski, Ardalan Vahidi, Yunyi Jia
    2023 IEEE International Automated Vehicle Validation Conference (IAVVC), 2023, pp. 1–6.
      2nd Place, Best Paper Award
Journal Articles:
  1. Reinforcement Learning Compensated Model Predictive Control for Off-road Driving on Unknown Deformable Terrain
    Prakhar Gupta, Jonathon M. Smereka, Yunyi Jia
    arXiv preprint Under Review at IEEE Transactions on Intelligent Vehicles, 2025.
  2. Energy-Efficient Automated Driving for Everyday Maneuvers: Fundamentals to Experimentation
    Tyler Ard, Jihun Han, Prakhar Gupta, Dominik Karbowski, Yunyi Jia, Ardalan Vahidi
    IEEE Control Systems Letters, 2025, IEEE, and in American Control Conference (ACC) 2025.