37 citations · 166 across the 16 of their papers we have counts for
17 papers
Output-Sampled Model Predictive Path Integral Control (o-MPPI) for Increased Efficiency
Leon, Yan, Santosh Devasia
The success of the model predictive path integral control (MPPI) approach depends on the appropriate selection of the input distribution used for sampling. However, it can be chall…
Precision Data-enabled Koopman-type Inverse Operators for Linear Systems
Leon Yan, Santosh Devasia
The advent of easy access to large amount of data has sparked interest in directly developing the relationships between input and output of dynamic systems. A challenge is that in…
Communication-free Cohesive Flexible-Object Transport using Decentralized Robot Networks
Yoshua Gombo, Anuj Tiwari, Santosh Devasia
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during…
MIMO ILC for Precision SEA robots using Input-weighted Complex-Kernel Regression
Leon Yan, Nathan Banka, Parker Owan +3
This work improves the positioning precision of lightweight robots with series elastic actuators (SEAs). Lightweight SEA robots, along with low-impedance control, can maneuver with…
Rapid Transitions with Robust Accelerated Delayed Self Reinforcement for Consensus-Based Networks
Anuj Tiwari, Santosh Devasia
Rapid transitions are important for quick response of consensus-based, multi-agent networks to external stimuli. While high-gain can increase response speed, potential instability…
Cohesive Networks using Delayed Self Reinforcement
Santosh Devasia
How a network gets to the goal (a consensus value) can be as important as reaching the consensus value. While prior methods focus on rapidly getting to a new consensus value, maint…