232 citations · 1.8k across the 63 of their papers we have counts for
68 papers
Switching Observers for Linear Systems: Beyond Individual Observability
Masoud S. Sakha, Rushikesh Kamalapurkar
This paper develops an LMI-based switching observer for linear time-invariant systems with two output channels, where only one output is available at any given time. We assume that…
Integral Formulation of QENDy for Robust Nonlinear System Identification
Nikhil Saran, Sushant Pokhriyal, Stefan Klus +2
This manuscript proposes an integral formulation of the newly defined quadratic embedding method for identifying nonlinear systems (QENDy). In the original algorithm, trajectory da…
A Dynamic Mode Decomposition Approach to Parameter Identification
Moad Abudia, Opeyemi Owolabi, Joel A. Rosenfeld +1
This paper develops a data-driven algorithm for simultaneous system and parameter identification in control-affine nonlinear systems. Parameter identification is achieved by traini…
Adaptive Control with Sparse Identification of Nonlinear Dynamics
Trivikram Satharasi, Tochukwu E. Ogri, Muzaffar Qureshi +2
This paper develops a sparsity-promoting integral concurrent learning (SP-ICL) adaptation law for a linearly parametrized uncertain nonlinear control-affine systems. The unknown pa…
Stability and Sensitivity Analysis of Relative Temporal-Difference Learning: Extended Version
Masoud S. Sakha, Rushikesh Kamalapurkar, Sean Meyn
Relative temporal-difference (TD) learning was introduced to mitigate the slow convergence of TD methods when the discount factor approaches one by subtracting a baseline from the…
Parallel OctoMapping: A Scalable Framework for Enhanced Path Planning in Autonomous Navigation
Yihui Mao, Tian Tan, Xuehui Shen +2
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reli…
A Taylor Series Approach to Correct Localization Errors in Robotic Field Mapping using Gaussian Processes
Muzaffar Qureshi, Tochukwu Elijah Ogri, Kyle Volle +1
Gaussian Processes (GPs) are powerful non-parametric Bayesian models for regression of scalar fields, formulated under the assumption that measurement locations are perfectly known…
Safe Adaptive Feedback Control via Barrier States
Trivikram Satharasi, Tochukwu E. Ogri, Muzaffar Qureshi +2
This paper presents a safe feedback control framework for nonlinear control-affine systems with parametric uncertainty by leveraging adaptive dynamic programming (ADP) with barrier…
On the embedding transformation for optimal control of multi-mode switched systems
Masoud S. Sakha, Rushikesh Kamalapurkar
This paper develops an embedding-based approach to solve switched optimal control problems (SOCPs) with an arbitrary number of subsystems. Initially, the discrete switching signal…
Lyapunov-Based Physics-Informed Deep Neural Networks with Skew Symmetry Considerations
Rebecca G. Hart, Wanjiku A. Makumi, Rushikesh Kamalapurkar +1
Deep neural networks (DNNs) are powerful black-box function approximators which have been shown to yield improved performance compared to traditional neural network (NN) architectu…
Safe Output-Feedback Adaptive Optimal Control of Affine Nonlinear Systems
Tochukwu E. Ogri, Muzaffar Qureshi, Zachary I. Bell +2
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier fun…
Improved Dwell-times for Switched Nonlinear Systems using Memory Regression Extension
Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos +3
This paper presents a switched systems approach for extending the dwell-time of an autonomous agent during GPS-denied operation by leveraging memory regressor extension (MRE) techn…
A Taylor Series Approach to Correction of Input Errors in Gaussian Process Regression
Muzaffar Qureshi, Tochukwu Elijah Ogri, Zachary I. Bell +2
Gaussian Processes (GPs) are widely recognized as powerful non-parametric models for regression and classification. Traditional GP frameworks predominantly operate under the assump…
A Switched Systems Approach to Image-Based Feature Tracking for Autonomous Satellite Inspection
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +3
This paper presents an information-based guidance and control architecture for an autonomous deputy spacecraft tasked with inspecting a chief satellite in orbit. The primary object…
On Dynamic Mode Decomposition of Control-affine Systems
Moad Abudia, Joel A. Rosenfeld, Rushikesh Kamalapurkar
This paper builds on the theoretical foundations for dynamic mode decomposition (DMD) of control-affine dynamical systems by leveraging the theory of vector-valued reproducing kern…
Gaussian Process-Based Scalar Field Estimation in GPS-Denied Environments
Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos +2
This paper presents a methodology for an autonomous agent to map an unknown scalar field in GPS-denied regions. To reduce localization errors, the agent alternates between GPS-enab…
Switched Optimal Control with Dwell Time Constraints
Masoud S. Sakha, Rushikesh Kamalapurkar
This paper presents an embedding-based approach for solving switched optimal control problems (SOCPs) with dwell time constraints. At first, an embedded optimal control problem (EO…
On Convergent Dynamic Mode Decomposition and its Equivalence with Occupation Kernel Regression
Moad Abudia, Joel A. Rosenfeld, Rushikesh Kamalapurkar
This paper presents a new technique for norm-convergent dynamic mode decomposition of deterministic systems. The developed method utilizes recent results on singular dynamic mode d…
Scalar Field Mapping with Adaptive High-Intensity Region Avoidance
Muzaffar Qureshi, Tochukwu Elijah Ogri, Zachary I. Bell +1
This research is motivated by a scenario where a group of UAVs is assigned to map an unknown scalar field, with the imperative of maintaining a safe distance from the sources of th…
Safe Output-Feedback Adaptive Optimal Control of Input-Constrained Control-Affine Nonlinear Systems
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +1
In this paper, a novel online, safe output-feedback, critic-only, adaptive optimal control framework is developed for safety-critical control of partially observable systems. The d…
An adaptive optimal control approach to monocular depth observability maximization
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +2
This paper presents an integral concurrent learning (ICL)-based observer for a monocular camera to accurately estimate the Euclidean distance to features on a stationary object, un…
Dynamic Mode Decomposition of Control-Affine Nonlinear Systems using Discrete Control Liouville Operators
Zachary Morrison, Moad Abudia, Joel Rosenfeld +1
Representation of nonlinear dynamical systems as infinite-dimensional linear operators over Hilbert spaces enables analysis of nonlinear systems via pseudo-spectral operator analys…
Pilot Performance modeling via observer-based inverse reinforcement learning
Jared Town, Zachary Morrison, Rushikesh Kamalapurkar
The focus of this paper is behavior modeling for pilots of unmanned aerial vehicles. The pilot is assumed to make decisions that optimize an unknown cost functional, which is estim…
State and Parameter Estimation for Affine Nonlinear Systems
Tochukwu Elijah Ogri, Zachary I. Bell, Rushikesh Kamalapurkar
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an…