232 citations · 1.8k across the 63 of their papers we have counts for
4 papers · 1 filter
Online Approximate Optimal Station Keeping of a Marine Craft in the Presence of a Current
Patrick Walters, Rushikesh Kamalapurkar, Forrest Voight +2
Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An app…
On reduction of differential inclusions and Lyapunov stability
Rushikesh Kamalapurkar, Warren E. Dixon, Andrew R. Teel
In this paper, locally Lipschitz, regular functions are utilized to identify and remove infeasible directions from set-valued maps that define differential inclusions. The resultin…
Online Simultaneous State and Parameter Estimation for Second-order Nonlinear Systems
Rushikesh Kamalapurkar
In this paper, a concurrent learning based adaptive observer is developed for a class of second-order nonlinear time-invariant systems with uncertain dynamics. The developed techni…
Model-based reinforcement learning in differential graphical games
Rushikesh Kamalapurkar, Justin R. Klotz, Patrick Walters +1
This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation track…