5 papers
Reinforcement Learning with Inner-loop Dynamics Estimator for Aerial Manipulation under Uncertainty
Shivansh Pratap Singh, Samaksh Ujjwal, Ishita Chaudhary +3
Aerial manipulators enable physical interaction in hard-to-reach environments; however, the combined problem of direct whole-body aerial manipulation under rapid arm motion, payloa…
Adaptive Sliding Mode Control for Vehicle Platoons with State-Dependent Friction Uncertainty
Rishabh Dev Yadav
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle pla…
Physics-Aware Sparse Learning and Selective Online Adaptation for Euler-Lagrange Robot Dynamics
Rishabh Dev Yadav, Samaksh Ujjawal, Sihao Sun +2
Accurate dynamics models are essential for model-based robotic control, yet nominal Euler--Lagrange models often become inaccurate in the presence of payload variation, unmodeled c…
Adaptive Artificial Time-Delay Control with Barrier Lyapunov Constraints for Euler-Lagrange Robots
Saksham Gupta, Rishabh Dev Yadav, Sarthak Mishra +5
This paper addresses the challenge of simultaneously compensating for state-dependent uncertainties and enforcing time-varying state constraints in Euler-Lagrange systems, a common…
Maintaining the Level of a Payload carried by Multi-Robot System on Irregular Surface
Rishabh Dev Yadav, Shrey Agrawal, Kamalakar Karlapalem
In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orienta…