2 citations · 4 across the 7 of their papers we have counts for
7 papers
Robust Learning of Nonlinear Dynamical Systems with Safety and Stability Properties
Iman Salehi, Ghananeel Rotithor, Ashwin P. Dani
The paper presents a robust parameter learning methodology for identification of nonlinear dynamical system from data while satisfying safety and stability constraints in the conte…
Discrete-Time Nonlinear Systems Identification with Probabilistic Safety and Stability Constraints
Iman Salehi, Tyler Taplin, Ashwin P. Dani
This paper presents a discrete-time nonlinear system identification method while satisfying the stability and safety properties of the system with high probability. An Extreme Lear…
Stitching Dynamic Movement Primitives and Image-based Visual Servo Control
Ghananeel Rotithor, Iman Salehi, Edward Tunstel +1
Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for m…
Extension of Full and Reduced Order Observers for Image-based Depth Estimation using Concurrent Learning
Ghananeel Rotithor, Daniel Trombetta, Rushikesh Kamalapurkar +1
In this paper concurrent learning (CL)-based full and reduced order observers for a perspective dynamical system (PDS) are developed. The PDS is a widely used model for estimating…
Shape Estimation for Elongated Deformable Object using B-spline Chained Multiple Random Matrices Model
Gang Yao, Ryan Saltus, Ashwin Dani
In this paper, a B-spline chained multiple random matrices representation is proposed to model geometric characteristics of an elongated deformable object. The hyper degrees of fre…
Image Moment Models for Extended Object Tracking
Gang Yao, Ashwin Dani
In this paper, a novel image moments based model for shape estimation and tracking of an object moving with a complex trajectory is presented. The camera is assumed to be stationar…
Visual Tracking Using Sparse Coding and Earth Mover's Distance
Gang Yao, Ashwin Dani
An efficient iterative Earth Mover's Distance (iEMD) algorithm for visual tracking is proposed in this paper. The Earth Mover's Distance (EMD) is used as the similarity measure to…