6 citations · 6 across the 5 of their papers we have counts for
4 papers · 1 filter
Reduced Order Model Predictive Control For Setpoint Tracking
Joseph Lorenzetti, Benoit Landry, Sumeet Singh +1
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a larg…
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
Sumeet Singh, Mo Chen, Sylvia L. Herbert +2
In the pursuit of real-time motion planning, a commonly adopted practice is to compute a trajectory by running a planning algorithm on a simplified, low-dimensional dynamical model…
Learning Stabilizable Dynamical Systems via Control Contraction Metrics
Sumeet Singh, Vikas Sindhwani, Jean-Jacques E. Slotine +1
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regu…
Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks: a Contraction Theory Approach
Sumeet Singh, Edward Schmerling, Marco Pavone
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit a…