4 papers
Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages
Aashish Sahu, Shriram Hari, R. Prasanth Kumar
Aerial payload transport using multirotor unmanned aerial vehicles is challenging because payload geometry, contact interaction, grasp stability, flight control, and narrow-passage…
Nonlinear Model Predictive Control via Sequential Convex Programming for Drone-to-Drone Docking
Neeraj Balachandar, Shriram Hari, Vishnu R. Unni
Autonomous mid-air docking of multi-rotor vehicles under disturbance-driven target motion poses a constrained non-linear trajectory optimization challenge. This work formulates the…
Dynamic Modeling and Attitude Control of a Reaction-Wheel-Based Low-Gravity Bipedal Hopper
Shriram Hari, M Venkata Sai Nikhil, R Prasanth Kumar
Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces a…
GO-GAN: Geometry Optimization Generative Adversarial Network for Achieving Optimized Structures with Targeted Physical Properties
A. Padmaprabhan, Shriram Hari, Nived Philip Thomas +4
This paper presents GO-GAN, a novel Generative Adversarial Network (GAN) architecture for geometry optimization (GO), specifically to generate structures based on user-specified in…