3 papers
math.OC2026
Discovering the Kalman-Bucy-Koopman Filter
Umesh Vaidya
This paper introduces the Kalman-Bucy-Koopman (KBK) filter, a novel framework for nonlinear state estimation grounded in Koopman operator spectral theory. The nonlinear estimation…
cs.RO2026
RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments
Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while…
math.DS2025
When Koopman Meets Hamilton and Jacobi
Umesh Vaidya
In this paper, we establish a connection between the spectral theory of the Koopman operator and the solution of the Hamilton Jacobi (HJ) equation. The HJ equation occupies a centr…