15 citations · 17 across the 6 of their papers we have counts for
9 papers
A Tutorial on Neural Networks and Gradient-free Training
Turibius Rozario, Arjun Trivedi, Ankit Goel
This paper presents a compact, matrix-based representation of neural networks in a self-contained tutorial fashion. Specifically, we develop neural networks as a composition of sev…
Experimental Flight Testing of a Fault-Tolerant Adaptive Autopilot for Fixed-Wing Aircraft
Joonghyun Lee, John Spencer, Siyuan Shao +3
This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the…
An Adaptive Digital Autopilot for Fixed-Wing Aircraft with Actuator Faults
Joonghyun Lee, John Spencer, Juan Augusto Paredes +3
This paper develops an adaptive digital autopilot for a fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive digital autopilot is constructed…
An Adaptive PID Autotuner for Multicopters with Experimental Results
John Spencer, Joonghyun Lee, Juan Augusto Paredes +2
This paper develops an adaptive PID autotuner for multicopters, and presents simulation and experimental results. The autotuner consists of adaptive digital control laws based on r…
Two Modifications of the Unscented Kalman Filter that Specialize to the Kalman Filter for Linear Systems
Ankit Goel, Dennis S. Bernstein
Although the unscented Kalman filter (UKF) is applicable to nonlinear systems, it turns out that, for linear systems, UKF does not specialize to the classical Kalman filter. This s…
Experimental Implementation of an Adaptive Digital Autopilot
Ankit Goel, Juan Augusto Paredes, Harshil Dadhaniya +4
This paper develops an adaptive digital autopilot for quadcopters and presents experimental results. The adaptive digital autopilot is constructed by augmenting the PX4 autopilot c…