33 citations · 44 across the 11 of their papers we have counts for
12 papers
Safe Multi-Robot Collaborative Transport Using Density Functions
Jagannath Prasad Sahoo, Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents a hierarchical density-based model predictive control framework for safe collaborative manipulation by multiple quadrupedal robots. The framework enables a team…
Safety Critical Model Predictive Control Using Discrete-Time Control Density Functions
Sriram S. K. S. Narayanan, Sajad Ahmadi, Javad Mohammadpour Velni +1
This paper presents MPC-CDF, a new approach integrating control density functions (CDFs) within a model predictive control (MPC) framework to ensure safety-critical control in nonl…
Safe Navigation in Dynamic Environments using Density Functions
Sriram S. K. S Narayanan, Joseph Moyalan, Umesh Vaidya
This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an…
Control Density Function for Robust Safety and Convergence
Joseph Moyalan, Sriram S. K. S Narayanan, Umesh Vaidya
We introduce a novel approach for safe control design based on the density function. A control density function (CDF) is introduced to synthesize a safe controller for a nonlinear…
Synthesizing Controller for Safe Navigation using Control Density Function
Joseph Moyalan, Sriram S. K. S Narayanan, Andrew Zheng +1
We consider the problem of navigating a nonlinear dynamical system from some initial set to some target set while avoiding collision with an unsafe set. We extend the concept of de…
Safe Motion Planning for Quadruped Robots Using Density Functions
Sriram S. K. S Narayanan, Andrew Zheng, Umesh Vaidya
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a mod…
Path-Integral Formula for Computing Koopman Eigenfunctions
Shankar A. Deka, Sriram S. K. S. Narayanan, Umesh Vaidya
The paper is about the computation of the principal spectrum of the Koopman operator (i.e., eigenvalues and eigenfunctions). The principal eigenfunctions of the Koopman operator ar…
Safe Navigation using Density Functions
Andrew Zheng, Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents a novel approach for safe control synthesis using the dual formulation of the navigation problem. The main contribution of this paper is in the analytical const…
Off-Road Navigation of Legged Robots Using Linear Transfer Operators
Joseph Moyalan, Andrew Zheng, Sriram S. K. S Narayanan +1
This paper presents the implementation of off-road navigation on legged robots using convex optimization through linear transfer operators. Given a traversability measure that capt…
SE(3) Koopman-MPC: Data-driven Learning and Control of Quadrotor UAVs
Sriram S. K. S. Narayanan, Duvan Tellez-Castro, Sarang Sutavani +1
In this paper, we propose a novel data-driven approach for learning and control of quadrotor UAVs based on the Koopman operator and extended dynamic mode decomposition (EDMD). Buil…
Optimal Control for Quadruped Locomotion using LTV MPC
Andrew Zheng, Sriram S. K. S Narayanan
This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying m…
Long-HOT: A Modular Hierarchical Approach for Long-Horizon Object Transport
Sriram Narayanan, Dinesh Jayaraman, Manmohan Chandraker
We address key challenges in long-horizon embodied exploration and navigation by proposing a new object transport task and a novel modular framework for temporally extended navigat…