324 citations · 420 across the 56 of their papers we have counts for
7 papers · 2 filters
Discrete time model predictive control for humanoid walking with step adjustment
Vishnu Joshi, Suraj Kumar, Nithin V +1
This paper presents a Discrete-Time Model Predictive Controller (MPC) for humanoid walking with online footstep adjustment. The proposed controller utilizes a hierarchical control…
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
Manan Tayal, Aditya Singh, Pushpak Jagtap +1
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide sa…
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
Aditya Shirwatkar, Naman Saxena, Kishore Chandra +1
A core strength of Model Predictive Control (MPC) for quadrupedal locomotion has been its ability to enforce constraints and provide interpretability of the sequence of commands ov…
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
GVS Mothish, Manan Tayal, Shishir Kolathaya
Locomotion on unknown terrains is essential for bipedal robots to handle novel real-world challenges, thus expanding their utility in disaster response and exploration. In this wor…
Barrier Functions Inspired Reward Shaping for Reinforcement Learning
Nilaksh Nilaksh, Abhishek Ranjan, Shreenabh Agrawal +3
Reinforcement Learning (RL) has progressed from simple control tasks to complex real-world challenges with large state spaces. While RL excels in these tasks, training time remains…
Learning a Formally Verified Control Barrier Function in Stochastic Environment
Manan Tayal, Hongchao Zhang, Pushpak Jagtap +2
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or s…
A Collision Cone Approach for Control Barrier Functions
Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal +5
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We prop…