3 papers
cs.RO2026
Covariance-Regulated Recursive Koopman Learning for Nonlinear Systems with Uncertain Time-Varying Dynamics
Weibin Gu, Chen Yang, Lu Shi +1
Offline models for autonomous robots often fail under time-varying dynamics outside their training distribution. Koopman operator theory offers a linear representation of nonlinear…
cs.RO2026
MUSE: Multimodal Uncertainty Quantification of State Estimation
Minkyung Kim, Henry Che, Bhargav Chandaka +6
Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advan…
eess.SY2025
Real-Time Linear MPC for Quadrotors on SE(3): An Analytical Koopman-based Realization
Santosh M. Rajkumar, Chengyu Yang, Yuliang Gu +3
This letter presents an analytical linear parameter-varying (LPV) representation of quadrotor dynamics utilizing Koopman theory, facilitating computationally efficient linear model…