10 citations · 12 across the 19 of their papers we have counts for
7 papers · 1 filter
CUDA MPC: A GPU-Native Solver for Model Predictive Control
Babak Akbari, Melissa Greeff
Model Predictive Control (MPC) delivers constraint-aware control, but its reliance on online optimization limits its use on systems with fast dynamics, high-dimensional models, or…
Anisotropic Template Ansätze for Robust Positive Invariance under State-Dependent Uncertainty
Abdelrahman Ramadan, Melissa Greeff, Sidney Givigi
We establish sufficient conditions for robust positive invariance under state- and input-dependent disturbances with anisotropic covariance structure. The proposed ansatz maps a fi…
Lights Out: A Nighttime UAV Localization Framework Using Thermal Imagery and Semantic 3D Maps
Ryan Allen, Melissa Greeff
Reliable backup localization for unmanned aerial vehicles (UAVs) operating in GNSS-denied nighttime conditions remains an open challenge due to the severe modality gap between dayt…
A Lightweight Toggleable Adhesion Prototype for Multirotor UAV Landing on Tilting Platforms
Teighin Nordholt, Melissa Greeff
Autonomous multirotor landings on uncrewed surface vessels (USVs) are critical for persistent maritime operations but remain challenging due to wave-induced tilt, wind disturbances…
A Case Study in Recovery of Drones using Discrete-Event Systems
Liam P. Burns, Dayse M. Cavalcanti, Felipe G. Cabral +4
Discrete-event systems and supervisory control theory provide a rigorous framework for specifying correct-by-construction behavior. However, their practical application to swarm ro…
Impact-Aware Model Predictive Control for UAV Landing on a Heaving Platform
Jess Stephenson, Melissa Greeff
Landing UAVs on heaving marine platforms is challenging because relative vertical motion can generate large impact forces and cause rebound on touchdown. To address this, we develo…
Physics-Constrained Denoising Autoencoders for Data-Scarce Wildfire UAV Sensing
Abdelrahman Ramadan, Zahra Dorbeigi Namaghi, Emily Taylor +5
Wildfire monitoring requires high-resolution atmospheric measurements, yet low-cost sensors on Unmanned Aerial Vehicles (UAVs) exhibit baseline drift, cross-sensitivity, and respon…