2 citations · 4 across the 10 of their papers we have counts for
12 papers · 1 filter
Towards Reliable Aerial Ground Vehicle Collaboration: An Integrated Planning and Autonomy Framework for Field Deployment
Md Safwan Mondal, Luca Russo, James D. Humann +2
Limited flight endurance significantly restricts the operational range of unmanned aerial vehicles (UAVs) in long duration missions such as surveillance and inspection, where multi…
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…
Robust Control using Control Lyapunov Function and Hamilton-Jacobi Reachability
Chun-Ming Yang, Pranav A. Bhounsule
The paper presents a robust control technique that combines the Control Lyapunov function and Hamilton-Jacobi Reachability to compute a controller and its Region of Attraction (ROA…
OptiRoute: A Heuristic-assisted Deep Reinforcement Learning Framework for UAV-UGV Collaborative Route Planning
Md Safwan Mondal, Subramanian Ramasamy, Pranav Bhounsule
Unmanned aerial vehicles (UAVs) are capable of surveying expansive areas, but their operational range is constrained by limited battery capacity. The deployment of mobile rechargin…
Cooperative Multi-Agent Planning Framework for Fuel Constrained UAV-UGV Routing Problem
Md Safwan Mondal, Subramanian Ramasamy, James D. Humann +4
Unmanned Aerial Vehicles (UAVs), although adept at aerial surveillance, are often constrained by limited battery capacity. By refueling on slow-moving Unmanned Ground Vehicles (UGV…
Solving Vehicle Routing Problem for unmanned heterogeneous vehicle systems using Asynchronous Multi-Agent Architecture (A-teams)
Subramanian Ramasamy, Md Safwan Mondal, Pranav A. Bhounsule
Fast moving but power hungry unmanned aerial vehicles (UAVs) can recharge on slow-moving unmanned ground vehicles (UGVs) to survey large areas in an effective and efficient manner.…
Optimizing Fuel-Constrained UAV-UGV Routes for Large Scale Coverage: Bilevel Planning in Heterogeneous Multi-Agent Systems
Md Safwan Mondal, Subramanian Ramasamy, Pranav Bhounsule
Fast moving unmanned aerial vehicles (UAVs) are well suited for aerial surveillance, but are limited by their battery capacity. To increase their endurance UAVs can be refueled on…
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…