18 citations · 35 across the 8 of their papers we have counts for
8 papers
Synthesizing Controller for Safe Navigation using Control Density Function
Joseph Moyalan, Sriram S. K. S Narayanan, Andrew Zheng +1
We consider the problem of navigating a nonlinear dynamical system from some initial set to some target set while avoiding collision with an unsafe set. We extend the concept of de…
Safe Motion Planning for Quadruped Robots Using Density Functions
Sriram S. K. S Narayanan, Andrew Zheng, Umesh Vaidya
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a mod…
Safe Navigation using Density Functions
Andrew Zheng, Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents a novel approach for safe control synthesis using the dual formulation of the navigation problem. The main contribution of this paper is in the analytical const…
Off-Road Navigation of Legged Robots Using Linear Transfer Operators
Joseph Moyalan, Andrew Zheng, Sriram S. K. S Narayanan +1
This paper presents the implementation of off-road navigation on legged robots using convex optimization through linear transfer operators. Given a traversability measure that capt…
Optimal Control for Quadruped Locomotion using LTV MPC
Andrew Zheng, Sriram S. K. S Narayanan
This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying m…
Markovian Interference in Experiments
Vivek F. Farias, Andrew A. Li, Tianyi Peng +1
We consider experiments in dynamical systems where interventions on some experimental units impact other units through a limiting constraint (such as a limited inventory). Despite…
Synthetically Controlled Bandits
Vivek Farias, Ciamac Moallemi, Tianyi Peng +1
This paper presents a new dynamic approach to experiment design in settings where, due to interference or other concerns, experimental units are coarse. `Region-split' experiments…
Computing Estimators of Dantzig Selector type via Column and Constraint Generation
Rahul Mazumder, Stephen Wright, Andrew Zheng
We consider a class of linear-programming based estimators in reconstructing a sparse signal from linear measurements. Specific formulations of the reconstruction problem considere…