10 citations · 20 across the 15 of their papers we have counts for
3 papers · 1 filter
Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots
Ruturaj Sambhus, Muneeb Ahmad, Basit Muhammad Imran +3
Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigatin…
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics
Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi +6
Model predictive control (MPC) combined with reduced-order template models has emerged as a powerful tool for trajectory optimization in dynamic legged locomotion. However, loco-ma…
Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots
Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala +2
This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functio…