9 papers
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…
Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots
Taizoon Chunawala, Jeeseop Kim, Kaveh Akbari Hamed
This paper presents a novel layered planning and control framework based on multi-rate nonlinear model predictive control (MR-NMPC) that enables quadrupedal robots to perform hybri…
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…
ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion
Yicheng Zeng, Ruturaj S. Sambhus, Basit Muhammad Imran +3
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-…
Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots
Leila Amanzadeh, Taizoon Chunawala, Randall T. Fawcett +2
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MP…
Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots
Ruturaj Sambhus, Muneeb Ahmad, Basit Muhammad Imran +3
Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigatin…