45 citations · 64 across the 16 of their papers we have counts for
8 papers · 1 filter
Neural Koopman Control Barrier Functions for Safety-Critical Control of Unknown Nonlinear Systems
Vrushabh Zinage, Efstathios Bakolas
We consider the problem of synthesis of safe controllers for nonlinear systems with unknown dynamics using Control Barrier Functions (CBF). We utilize Koopman operator theory (KOT)…
Minimum-fuel Spacecraft Rendezvous based on Sparsity Promoting Optimization
Vrushabh Zinage, Efstathios Bakolas
In this paper, we consider the classical spacecraft rendezvous problem in which the so-called active spacecraft has to approach the target spacecraft which is moving in an elliptic…
Distributed Coverage Control of Multi-Agent Networks with Guaranteed Collision Avoidance in Cluttered Environments
Alaa Z. Abdulghafoor, Efstathios Bakolas
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while a…
Greedy Decentralized Auction-based Task Allocation for Multi-Agent Systems
Martin Braquet, Efstathios Bakolas
We propose a decentralized auction-based algorithm for the solution of dynamic task allocation problems for spatially distributed multi-agent systems. In our approach, each member…
Koopman Operator Based Modeling for Quadrotor Control on
Vrushabh Zinage, Efstathios Bakolas
In this paper, we propose a Koopman operator based approach to describe the nonlinear dynamics of a quadrotor on SE(3) in terms of an infinite-dimensional linear system which evolv…
Far-Field Minimum-Fuel Spacecraft Rendezvous using Koopman Operator and Optimization
Vrushabh Zinage, Efstathios Bakolas
We propose a method to compute approximate solutions to the minimum-fuel far-field rendezvous problem for thrust-vectoring spacecraft. It is well-known that the use of linearized s…