3 papers
cs.RO2026
ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots
Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng +1
This paper presents a safety-critical distributed nonlinear model predictive control (DNMPC) framework for cooperative payload transportation by teams of quadrupedal robots. The pr…
cs.RO2026
Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
Ruturaj S. Sambhus, Yicheng Zeng, Kapi Ketan Mehta +2
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The intercon…
cs.RO2025
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics
Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi +6
Model predictive control (MPC) combined with reduced-order template models has emerged as a powerful tool for trajectory optimization in dynamic legged locomotion. However, loco-ma…