7 papers
Max-Entropy Moment Filtering for Stochastic Hybrid Systems
Kaito Iwasaki, Tejaswi K. C., Anthony Bloch +2
Stochastic hybrid systems combine continuous-time stochastic dynamics with discrete reset events, producing intrinsically non-Gaussian and often multimodal uncertainty. A consisten…
Uncertainty Propagation in Stochastic Hybrid Systems with Dimension-Varying Resets
Tejaswi K. C., Taeyoung Lee
This paper studies probability density evolution for stochastic hybrid systems with reset maps that change the dimension of the continuous state across modes. Existing Frobenius--P…
Mean Field Game and Control for Switching Hybrid Systems
Tejaswi K. C., Taeyoung Lee
Mean field games and controls involve guiding the behavior of large populations of interacting agents, where each individual's influence on the group is negligible but collectively…
Uncertainty propagation of stochastic hybrid systems: a case study for types of jump
Tejaswi K. C., William Clark, Taeyoung Lee
Stochastic hybrid systems are dynamic systems that undergo both random continuous-time flows and random discrete jumps. Depending on how randomness is introduced into the continuou…
Invariant Kalman Filter for Relative Dynamics
Tejaswi K. C., Maneesha Wickramasuriya, Silvere Bonnabel +2
This paper develops a geometric framework for invariant filtering of relative dynamics on Lie groups. We first revisit the notion of state trajectory independence, under which the…
Dynamics and Control of a Flapping Wing UAV with Abdomen Undulation Inspired by Monarch Butterfly
Tejaswi K. C., Chang-kwon Kang, Taeyoung Lee
This paper presents a dynamic model and a control system for a flapping-wing unmanned aerial vehicle. Inspired by flight characteristics captured from live Monarch butterflies, a n…
Lyapunov-like functions for attitude control via feedback integrators
Tejaswi K. C., Srikant Sukumar, Ravi Banavar
The notion of feedback integrators permits Euclidean integration schemes for dynamical systems evolving on manifolds. Here, a constructive Lyapunov function for the attitude dynami…