4 citations · 10 across the 22 of their papers we have counts for
22 papers
ContractionPPO: Certified Reinforcement Learning via Differentiable Contraction Layers
Vrushabh Zinage, Narek Harutyunyan, Eric Verheyden +2
Legged locomotion in unstructured environments demands not only high-performance control policies but also formal guarantees to ensure robustness under perturbations. Control metho…
Universal Barrier Functions for Safety and Stability of Constrained Nonlinear Systems
Vrushabh Zinage, Efstathios Bakolas
In this paper, we address the problem of synthesizing safe and stabilizing controllers for nonlinear systems subject to complex safety specifications and input constraints. We intr…
Transformer-Based Model Predictive Path Integral Control
Shrenik Zinage, Vrushabh Zinage, Efstathios Bakolas
This paper presents a novel approach to improve the Model Predictive Path Integral (MPPI) control by using a transformer to initialize the mean control sequence. Traditional MPPI m…
Fast End-to-End Generation of Belief Space Paths for Minimum Sensing Navigation
Lukas Taus, Vrushabh Zinage, Takashi Tanaka +1
We revisit the problem of motion planning in the Gaussian belief space. Motivated by the fact that most existing sampling-based planners suffer from high computational costs due to…
Decentralized Safe and Scalable Multi-Agent Control under Limited Actuation
Vrushabh Zinage, Abhishek Jha, Rohan Chandra +1
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadl…
TransformerMPC: Accelerating Model Predictive Control via Transformers
Vrushabh Zinage, Ahmed Khalil, Efstathios Bakolas
In this paper, we address the problem of reducing the computational burden of Model Predictive Control (MPC) for real-time robotic applications. We propose TransformerMPC, a method…
Leveraging Gated Recurrent Units for Iterative Online Precise Attitude Control for Geodetic Missions
Vrushabh Zinage, Shrenik Zinage, Srinivas Bettadpur +1
In this paper, we consider the problem of precise attitude control for geodetic missions, such as the GRACE Follow-on (GRACE-FO) mission. Traditional and well-established control m…
Neural Differentiable Integral Control Barrier Functions for Unknown Nonlinear Systems with Input Constraints
Vrushabh Zinage, Rohan Chandra, Efstathios Bakolas
In this paper, we propose a deep learning based control synthesis framework for fast and online computation of controllers that guarantees the safety of general nonlinear control s…
Disturbance Observer-based Robust Integral Control Barrier Functions for Nonlinear Systems with High Relative Degree
Vrushabh Zinage, Rohan Chandra, Efstathios Bakolas
In this paper, we consider the problem of safe control synthesis of general controlled nonlinear systems in the presence of bounded additive disturbances. Towards this aim, we firs…
Deadlock-free, Safe, and Decentralized Multi-Robot Navigation in Social Mini-Games via Discrete-Time Control Barrier Functions
Rohan Chandra, Vrushabh Zinage, Efstathios Bakolas +2
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections…
Optimal Sampling-based Motion Planning in Gaussian Belief Space for Minimum Sensing Navigation
Vrushabh Zinage, Ali Reza Pedram, Takashi Tanaka
In this paper, we consider the motion planning problem in Gaussian belief space for minimum sensing navigation. Despite the extensive use of sampling-based algorithms and their rig…
Semi-global Exponential Stability for Dual Quaternion Based Rigid-Body Tracking Control
Vrushabh Zinage, S P Arjun Ram, Maruthi R. Akella +1
Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically s…
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)…
Continuous-Time Channel Gain Control for Minimum-Information Kalman-Bucy Filtering
Takashi Tanaka, Vrushabh Zinage, Valery Ugrinovskii +1
We consider the problem of estimating a continuous-time Gauss-Markov source process observed through a vector Gaussian channel with an adjustable channel gain matrix. For a given (…
Neural Koopman Lyapunov Control
Vrushabh Zinage, Efstathios Bakolas
Learning and synthesizing stabilizing controllers for unknown nonlinear control systems is a challenging problem for real-world and industrial applications. Koopman operator theory…
Koopman Operator Based Modeling and Control of Rigid Body Motion Represented by Dual Quaternions
Vrushabh Zinage, Efstathios Bakolas
In this paper, we systematically derive a finite set of Koopman based observables to construct a lifted linear state space model that describes the rigid body dynamics based on the…
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…
Optimal Sensor Gain Control for Minimum-Information Estimation of Continuous-Time Gauss-Markov Processes
Vrushabh Zinage, Takashi Tanaka, Valeri Ugrinovskii
We consider the scenario in which a continuous-time Gauss-Markov process is estimated by the Kalman-Bucy filter over a Gaussian channel (sensor) with a variable sensor gain. The pr…
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…
Mathematical Properties of Generalized Shape Expansion-Based Motion Planning Algorithms
Adhvaith Ramkumar, Vrushabh Zinage, Satadal Ghosh
Motion planning is an essential aspect of autonomous systems and robotics and is an active area of research. A recently-proposed sampling-based motion planning algorithm, termed 'G…
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…
3D-OGSE: Online Safe and Smooth Trajectory Generation using Generalized Shape Expansion in Unknown 3-D Environments
Vrushabh Zinage, Senthil Hariharan Arul, Dinesh Manocha +1
In this paper, we present an online motion planning algorithm (3D-OGSE) for generating smooth, collision-free trajectories over multiple planning iterations for 3-D agents operatin…