33 citations · 44 across the 11 of their papers we have counts for
7 papers · 1 filter
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…
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…
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…
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…