6 papers
A Relaxed Quadratic-Program-based Framework for Trajectory Tracking of Unicycle Robots with Singularity Avoidance
Hamza Tariq, Usman Ali, Adeel Akhtar
Dynamic feedback linearization (DFL) is a classical technique for trajectory tracking of unicycle-type mobile robots, but the resulting DFL-based controller becomes singular when t…
Path-following Control of a Quadrotor using Quasi-Static Transverse Feedback Linearization
Mohamed Al Lawati, Adeel Akhtar
We propose a quasi-static transverse feedback linearization (QSTFL) controller for a quadrotor to follow a prescribed geometric path, rather than a time-parameterized trajectory. I…
A Geometric Solution of the Schrödinger Bridge Problem on via Stochastic Optimal Control
Hamza Mahmood, Adeel Akhtar
We present a geometric coordinate-free solution to the isotropic Schrödinger bridge problem (SBP) for the kinematic equation on the Lie group . We consider the ang…
Learning Neural Maximal Lyapunov Functions on
Adeel Akhtar, Matthieu Barreau
Establishing stability guarantees for dynamical systems on Lie groups is a fundamental challenge, as classical Lyapunov methods developed for Euclidean spaces do not directly trans…
Schrödinger Bridge Over A Compact Connected Lie Group
Hamza Mahmood, Abhishek Halder, Adeel Akhtar
This work studies the Schrödinger bridge problem for the kinematic equation on a compact connected Lie group. The objective is to steer a controlled diffusion between given initia…
A Safe Hybrid Control Framework for Car-like Robot with Guaranteed Global Path-Invariance using a Control Barrier Function
Nan Wang, Adeel Akhtar, Ricardo G. Sanfelice
This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the…