42 citations · 79 across the 7 of their papers we have counts for
7 papers
Quad: Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
Zhuohuan Wu, Sheng Cheng, Pan Zhao +6
Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a con…
Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman +4
This paper introduces an adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the augmentation handle…
Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics
Pan Zhao, Arun Lakshmanan, Kasey Ackerman +3
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction met…
Contraction -Adaptive Control using Gaussian Processes
Aditya Gahlawat, Arun Lakshmanan, Lin Song +4
We present -, a control framework that enables safe simultaneous learning and control for systems subject to uncertainties. The two main constituents…
Safe Feedback Motion Planning: A Contraction Theory and -Adaptive Control Based Approach
Arun Lakshmanan, Aditya Gahlawat, Naira Hovakimyan
Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this pape…
Intent-Aware Probabilistic Trajectory Estimation for Collision Prediction with Uncertainty Quantification
Andrew Patterson, Arun Lakshmanan, Naira Hovakimyan
Collision prediction in a dynamic and unknown environment relies on knowledge of how the environment is changing. Many collision prediction methods rely on deterministic knowledge…
Proximity Queries for Absolutely Continuous Parametric Curves
Arun Lakshmanan, Andrew Patterson, Venanzio Cichella +1
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment.…