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cs.RO2023★ 1 cited
Nonlinear Controller Design for a Quadrotor with Inverted Pendulum
Xichen Shi, Yashwanth Kumar Nakka
The quadrotor is a degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output t…
cs.RO2020
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems
Yashwanth Kumar Nakka, Anqi Liu, Guanya Shi +3
Learning-based control algorithms require data collection with abundant supervision for training. Safe exploration algorithms ensure the safety of this data collection process even…