4 citations · 12 across the 24 of their papers we have counts for
6 papers · 1 filter
Stoch BiRo: Design and Control of a low cost bipedal robot
GVS Mothish, Karthik Rajgopal, Ravi Kola +2
This paper introduces the Stoch BiRo, a cost-effective bipedal robot designed with a modular mechanical structure having point feet to navigate uneven and unfamiliar terrains. The…
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
Manan Tayal, Shishir Kolathaya
In fields such as mining, search and rescue, and archaeological exploration, ensuring real-time, collision-free navigation of robots in confined, cluttered environments is imperati…
Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance
Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal +2
Autonomy advances have enabled robots in diverse environments and close human interaction, necessitating controllers with formal safety guarantees. This paper introduces an experim…
A Theoretical and Empirical Study on the Convergence of Adam with an "Exact" Constant Step Size in Non-Convex Settings
Alokendu Mazumder, Rishabh Sabharwal, Manan Tayal +2
In neural network training, RMSProp and Adam remain widely favoured optimisation algorithms. One of the keys to their performance lies in selecting the correct step size, which can…
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
Manan Tayal, Shishir Kolathaya
Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexpl…
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
Manan Tayal, Rajpal Singh, Jishnu Keshavan +1
Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionized various industries with their maneuverability and versatility, but their safe operation in dynamic env…