10 papers
Safe Output-Feedback Adaptive Optimal Control of Input-Constrained Control-Affine Nonlinear Systems
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +1
In this paper, a novel online, safe output-feedback, critic-only, adaptive optimal control framework is developed for safety-critical control of partially observable systems. The d…
A Hough transform approach to safety-aware scalar field mapping using Gaussian Processes
Muzaffar Qureshi, Trivikram Satharasi, Tochukwu E. Ogri +2
This paper presents a framework for mapping unknown scalar fields using a sensor-equipped autonomous robot operating in unsafe environments. The unsafe regions are defined as regio…
Adaptive Control with Sparse Identification of Nonlinear Dynamics
Trivikram Satharasi, Tochukwu E. Ogri, Muzaffar Qureshi +2
This paper develops a sparsity-promoting integral concurrent learning (SP-ICL) adaptation law for a linearly parametrized uncertain nonlinear control-affine system. The unknown par…
A Taylor Series Approach to Correct Localization Errors in Robotic Field Mapping using Gaussian Processes
Muzaffar Qureshi, Tochukwu Elijah Ogri, Kyle Volle +1
Gaussian Processes (GPs) are powerful non-parametric Bayesian models for regression of scalar fields, formulated under the assumption that measurement locations are perfectly known…
Safe Adaptive Feedback Control via Barrier States
Trivikram Satharasi, Tochukwu E. Ogri, Muzaffar Qureshi +2
This paper presents a safe feedback control framework for nonlinear control-affine systems with parametric uncertainty by leveraging adaptive dynamic programming (ADP) with barrier…
A Switched Systems Approach to Image-Based Feature Tracking for Autonomous Satellite Inspection
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +3
This paper presents an information-based guidance and control architecture for an autonomous deputy spacecraft tasked with inspecting a chief satellite in orbit. The primary object…