3 papers
cs.RO2026
Robust Fleet Sizing for Multi-UAV Inspection Missions under Synchronized Replacement Demand
Vishal Ramesh, Antony Thomas
Multi-UAV inspection missions require spare drones to replace active drones during recharging cycles. Existing fleet-sizing approaches often assume steady-state operating condition…
cs.RO2026
DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
Vishal Ramesh, Aman Singh, Shishir Kolathaya
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during o…
cs.RO2026
False Feasibility in Variable Impedance MPC for Legged Locomotion
Vishal Ramesh
Variable impedance model predictive control (MPC) formulations often treat joint stiffness as an instantaneous decision variable. The resulting feasible set strictly contains the p…