1 citations · 1 across the 2 of their papers we have counts for
3 papers · 1 filter
Perception-Integrated Safety Critical Control via Analytic Collision Cone Barrier Functions on 3D Gaussian Splatting
Dario Tscholl, Yashwanth Nakka, Brian Gunter
We present a perception-driven safety filter that converts each 3D Gaussian Splat (3DGS) into a closed-form forward collision cone, which in turn yields a first-order control barri…
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…
Learning-based methods to model small body gravity fields for proximity operations: Safety and Robustness
Daniel Neamati, Yashwanth Kumar Nakka, Soon-Jo Chung
Accurate gravity field models are essential for safe proximity operations around small bodies. State-of-the-art techniques use spherical harmonics or high-fidelity polyhedron shape…