7 citations · 22 across the 18 of their papers we have counts for
6 papers · 1 filter
Safety-Critical Controller Synthesis with Reduced-Order Models
Max H. Cohen, Noel Csomay-Shanklin, William D. Compton +2
Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous wo…
Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies
William Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin +2
Stabilizing underactuated systems is an inherently challenging control task due to fundamental limitations on how the control input affects the unactuated dynamics. Decomposing the…
Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks
Inigo Incer, Noel Csomay-Shanklin, Aaron Ames +1
We consider the problem of reasoning about networked and layered control systems using assume-guarantee specifications. As these systems are formed by the interconnection of compon…
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions
Noel Csomay-Shanklin, Andrew J. Taylor, Ugo Rosolia +1
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with di…
Interactive multi-modal motion planning with Branch Model Predictive Control
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker +2
Motion planning for autonomous robots and vehicles in presence of uncontrolled agents remains a challenging problem as the reactive behaviors of the uncontrolled agents must be con…
Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion
Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by…