12 papers
Intrinsic Path Following on
Adeel Akhtar
This paper studies intrinsic path following for fully actuated rigid-body attitude dynamics over a broad class of attitude paths, namely arbitrary smooth embedded closed curves on…
Path Invariance of a Quadrotor System under Cyber Attacks with Theoretical Guarantees
Hamza Mahmood, Usman Ali, Adeel Akhtar
This paper presents a path-following controller for a quadrotor system to guarantee safe maneuvers, in terms of forward path invariance, in the presence of cyber-physical attacks.…
Decentralized Safe Path Following for Multiple Quadrotors on Intersecting Paths with Theoretical Guarantees
Hamza Tariq, Adeel Akhtar
This paper studies decentralized safe path following for multiple quadrotors on intersecting paths, where safety requires both collision avoidance and strict adherence to pre-assig…
Quasi-Static Fault-Tolerant Feedback Control of a Quadrotor under Rotor Failure with Provable Safety Guarantees
Mohamed Al Lawati, Adeel Akhtar
This paper presents a nonlinear control law for a quadrotor unmanned aerial vehicle (UAV) under single-rotor failure that guarantees set stabilization via quasi-static feedback (QS…
Modeling and Control of a Unicycle Robot on Manifolds
Adeel Akhtar, Mohamed Al Lawati
This paper studies path-following control for a kinematic unicycle evolving on a smooth manifold embedded in \(\mathbb{R}^3\). The objective is to stabilize a one-dimensional path…
On the Equivalence of Stochastic Control and Path Space Formulations for Schrödinger Bridges over Compact Connected Lie Groups
Hamza Mahmood, Georgiy A. Bondar, Abhishek Halder +1
We establish the equivalence between the stochastic optimal control and path space formulations of the Schrödinger bridge problem (SBP) for the kinematic equation on a compact conn…
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 angu…
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 initial…
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…