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