16 citations · 16 across the 3 of their papers we have counts for
3 papers
Residual Dynamics Learning for Trajectory Tracking for Multi-rotor Aerial Vehicles
Geesara Kulathunga, Hany Hamed, Alexandr Klimchik
This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in th…
Optimization-based Trajectory Tracking Approach for Multi-rotor Aerial Vehicles in Unknown Environments
Geesara Kulathunga, Hany Hamed, Dmitry Devitt +1
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for…
Learning Stabilizing Control Policies for a Tensegrity Hopper with Augmented Random Search
Vladislav Kurenkov, Hany Hamed, Sergei Savin
In this paper, we consider tensegrity hopper - a novel tensegrity-based robot, capable of moving by hopping. The paper focuses on the design of the stabilizing control policies, wh…