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math.OC2022★ 1 cited
Discrete-time Rigid Body Pose Estimation based on Lagrange-d'Alembert principle
Maulik Bhatt, Srikant Sukumar, Amit K Sanyal
The problem of rigid body pose estimation is treated in discrete-time via discrete Lagrange-d'Alembert principle and discrete Lyapunov methods. The position and attitude of the rig…
cs.RO2022
Efficient Constrained Multi-Agent Trajectory Optimization using Dynamic Potential Games
Maulik Bhatt, Yixuan Jia, Negar Mehr
Although dynamic games provide a rich paradigm for modeling agents' interactions, solving these games for real-world applications is often challenging. Many real-world interactive…