6 papers
Rumoca: Modelica as a Universal Algebraic Frontend via a Rust-Native Compiler
Micah K. Condie, Abigaile Woodbury, Thomas Meschede +2
Modelica is a well established cyber-physical modeling language, but many modern engineering workflows, such as optimization, differentiable simulation, scientific machine learning…
A Surveillance Evasion Game with Continuous Sensor Redeployment via Bilevel Optimization
Jaehyeok Kim, Kartik A. Pant, Joseph Kinerson +4
Uncrewed Aerial Systems (UASs) have become a growing threat to the security of critical infrastructure, exploiting spatiotemporal gaps in sensor perimeters to infiltrate restricted…
Log-linear Dynamic Inversion for Thrusting Spacecraft on SE2(3)
Micah K. Condie, Abigaile E. Woodbury, Li-Yu Lin +3
We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the Lie group, and the nonlinearity can be bounded, or removed with the applic…
Log-linear Backstepping control on
Li-Yu Lin, Benjamin Perseghetti, James Goppert
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping co…
Energy-Constrained Resilient Multi-Robot Coverage Control
Kartik A. Pant, Jaehyeok Kim, James M. Goppert +1
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the…
SAFE-TAXI: A Hierarchical Multi-UAS Safe Auto-Taxiing Framework with Runtime Safety Assurance and Conflict Resolution
Kartik A. Pant, Li-Yu Lin, Worawis Sribunma +3
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes…