6 papers
Koopman Operator Based Time-Delay Embeddings and State History Augmented LQR for Periodic Hybrid Systems: Bouncing Pendulum and Bipedal Walking
Chun-Ming Yang, Pranav A. Bhounsule
Time-delay embedding is a technique that uses snapshots of state history over time to build a linear state space model of a nonlinear smooth system. We demonstrate that periodic no…
Koopman Operator Based Linear Model Predictive Control for Quadruped Trotting
Chun-Ming Yang, Pranav A. Bhounsule
Online optimal control of quadruped robots would enable them to adapt to varying inputs and changing conditions in real time. A common way of achieving this is linear model predict…
Koopman Operator Based Linear Model Predictive Control for 2D Quadruped Trotting, Bounding, and Gait Transition
Chun-Ming Yang, Pranav A. Bhounsule
Online optimal control of quadrupedal robots would enable them to plan their movement in novel scenarios. Linear Model Predictive Control (LMPC) has emerged as a practical approach…
How to Coordinate UAVs and UGVs for Efficient Mission Planning? Optimizing Energy-Constrained Cooperative Routing with a DRL Framework
Md Safwan Mondal, Subramanian Ramasamy, Luca Russo +3
Efficient mission planning for cooperative systems involving Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) requires addressing energy constraints, scalability…
Deep Reinforcement Learning Enabled Persistent Surveillance with Energy-Aware UAV-UGV Systems for Disaster Management Applications
Md Safwan Mondal, Subramanian Ramasamy, Pranav Bhounsule
Integrating Unmanned Aerial Vehicles (UAVs) with Unmanned Ground Vehicles (UGVs) provides an effective solution for persistent surveillance in disaster management. UAVs excel at co…
Switching between Limit Cycles in a Model of Running Using Exponentially Stabilizing Discrete Control Lyapunov Function
Pranav A. Bhounsule, Ali Zamani, Jason Pusey
This paper considers the problem of switching between two periodic motions, also known as limit cycles, to create agile running motions. For each limit cycle, we use a control Lyap…