3 papers
cs.RO2025
Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning
Anusha Srikanthan, Hanli Zhang, Spencer Folk +2
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in qua…
cs.RO2025
ADMM-MCBF-LCA: A Layered Control Architecture for Safe Real-Time Navigation
Anusha Srikanthan, Yifan Xue, Vijay Kumar +2
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We a…
math.OC2024
Closed-loop Analysis of ADMM-based Suboptimal Linear Model Predictive Control
Anusha Srikanthan, Aren Karapetyan, Vijay Kumar +1
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing…