4 citations · 10 across the 22 of their papers we have counts for
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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…