4 papers
Moving On, Even When You're Broken: Fail-Active Trajectory Generation via Diffusion Policies Conditioned on Embodiment and Task
Gilberto G. Briscoe-Martinez, Yaashia Gautam, Rahul Shetty +3
Robot failure is detrimental and disruptive, often requiring human intervention to recover. Our vision is 'fail-active' operation, allowing robots to safely complete their tasks ev…
Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
Yaashia Gautam, Gilberto Briscoe-Martinez, Adhitya Mohan +3
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment unde…
Finite-Time Computation of Polyhedral Input-Saturated Output-Admissible Sets
Yaashia Gautam, Marco M. Nicotra
The paper introduces a novel algorithm for computing the output admissible set of linear discrete-time systems subject to input saturation. The proposed method takes advantage of t…
Stability Analysis of Hypersampled Model Predictive Control
Yaashia Gautam, Marco M. Nicotra
This paper introduces a new framework for analyzing the stability of discrete-time model predictive controllers acting on continuous-time systems. The proposed framework introduces…