2 citations · 4 across the 18 of their papers we have counts for
5 papers · 1 filter
HJ-Gauss: A Monte-Carlo HJ Reachability Scheme
Lekan Molu, Venkatraman Renganathan, Namhoon Cho
Backward reachable sets or tubes (BRS/Ts), evaluated with grid-based level-set methods over viscous Hamilton-Jacobi (HJ) equations, furnish principled reachability certificates for…
Fast Whole-Body Strain Regulation in Continuum Robots
Lekan Molu
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a mode…
Comments on "Time-Varying Lyapunov Functions for Tracking Control of Mechanical Systems With and Without Frictions"
Lekan Molu
In the article, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equati…
Robust Policy Optimization in Continuous-time Mixed Stochastic Control
Leilei Cui, Lekan Molu
Following the recent resurgence in establishing linear control theoretic benchmarks for reinforcement leaning (RL)-based policy optimization (PO) for complex dynamical systems with…
A Second-Order Reachable Sets Computation Scheme via a Cauchy-Type Variational Hamilton-Jacobi-Isaacs Equation
Lekan Molu, Ian Abraham, Sylvia Herbert
Motivated by the scalability limitations of Eulerian methods for variational Hamilton-Jacobi-Isaacs (HJI) formulations that provide a least restrictive controller in problems that…