2 papers
cs.RO2020
Fast Adaptation of Manipulator Trajectories to Task Perturbation By Differentiating through the Optimal Solution
Shashank Srikanth, Mithun Babu, Houman Masnavi +3
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to pe…
cs.RO2018
Model Predictive Control for Autonomous Driving considering Actuator Dynamics
Mithun Babu, Raghu Ram Theerthala, Arun Kumar Singh +3
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alt…