5 papers
Differentiable Invariant Sets for Hybrid Limit Cycles with Application to Legged Robots
Varun Madabushi, Akash Harapanahalli, Samuel Coogan +1
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However,…
Finite-Step Invariant Sets for Hybrid Systems with Probabilistic Guarantees
Varun Madabushi, Elizabeth Dietrich, Hanna Krasowski +1
Poincare return maps are a fundamental tool for analyzing periodic orbits in hybrid dynamical systems, including legged locomotion, power electronics, and other cyber-physical syst…
NaviGait: Navigating Dynamically Feasible Gait Libraries using Deep Reinforcement Learning
Neil Janwani, Varun Madabushi, Maegan Tucker
Reinforcement learning (RL) has emerged as a powerful method to learn robust control policies for bipedal locomotion. Yet, it can be difficult to tune desired robot behaviors due t…
Dense Fixed-Wing Swarming using Receding-Horizon NMPC
Varun Madabushi, Yocheved Kopel, Adam Polevoy +1
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinea…
Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs
Varun Madabushi, Katie M. Popek, Craig Knuth +2
In this work, we investigate the use of co-design methods to iterate upon robot designs in the field, performing time sensitive, ad-hoc tasks. Our method optimizes the morphology a…