21 citations · 40 across the 9 of their papers we have counts for
7 papers · 1 filter
DeepPSL: End-to-end perception and reasoning
Sridhar Dasaratha, Sai Akhil Puranam, Karmvir Singh Phogat +2
We introduce DeepPSL a variant of probabilistic soft logic (PSL) to produce an end-to-end trainable system that integrates reasoning and perception. PSL represents first-order logi…
Exact isoholonomic motion of the planar Purcell's swimmer
Sudin Kadam, Karmvir Singh Phogat, Ravi N. Banavar +1
In this article we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the Discrete-time Pontryagin maximum principle. The 3-link Purc…
Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum
Klaus Albert, Karmvir Singh Phogat, Felix Anhalt +3
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion pl…
A frequency-constrained geometric Pontryagin maximum principle on matrix Lie groups
Shruti Kotpalliwar, Pradyumna Paruchuri, Karmvir Singh Phogat +2
In this article we present a geometric discrete-time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the controls in addition to…
Structure-preserving discrete-time optimal maneuvers of a wheeled inverted pendulum
Karmvir Singh Phogat, Ravi Banavar, Debasish Chatterjee
The Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated mechanical system, and has been popularized commercially as the {\it Segway}. Designing optimal control laws fo…
A discrete-time Pontryagin maximum principle on matrix Lie groups
Karmvir Singh Phogat, Debasish Chatterjee, Ravi Banavar
In this article we derive a Pontryagin maximum principle (PMP) for discrete-time optimal control problems on matrix Lie groups. The PMP provides first order necessary conditions fo…
Discrete-time optimal attitude control of spacecraft with momentum and control constraints
Karmvir Singh Phogat, Debasish Chatterjee, Ravi Banavar
This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics…