4 papers
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…
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…
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…