1 citations · 2 across the 13 of their papers we have counts for
16 papers
Input Bias Correction in Gaussian Process Regression
Muzaffar Qureshi, Tochukwu E. Ogri, Trivikram Satharasi +2
In traditional Gaussian process (GP) regression, the inputs are typically assumed to be known, and uncertainty enters only through the measurements. When scalar fields are mapped u…
Compute-Constrained Safety Filters with Neuromorphic Event Triggering
Tochukwu E. Ogri, Opeyemi Owolabi, Luke Fina +2
Safety filters that rely on control barrier function (CBF) quadratic programs (QPs) are typically analyzed under the assumption that the QP is solved instantaneously, although nonz…
On sparsity and directional forgetting in adaptive control
Tochukwu E. Ogri, Trivikram Satharasi, Muzaffar Qureshi +2
This paper develops a sparsity-promoting memory regressor extension (MRE) adaptation law with directional forgetting for nonlinear control-affine systems with linearly parameterize…
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 systems. The unknown pa…
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…
Safe Output-Feedback Adaptive Optimal Control of Affine Nonlinear Systems
Tochukwu E. Ogri, Muzaffar Qureshi, Zachary I. Bell +2
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier fun…
Improved Dwell-times for Switched Nonlinear Systems using Memory Regression Extension
Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos +3
This paper presents a switched systems approach for extending the dwell-time of an autonomous agent during GPS-denied operation by leveraging memory regressor extension (MRE) techn…
A Taylor Series Approach to Correction of Input Errors in Gaussian Process Regression
Muzaffar Qureshi, Tochukwu Elijah Ogri, Zachary I. Bell +2
Gaussian Processes (GPs) are widely recognized as powerful non-parametric models for regression and classification. Traditional GP frameworks predominantly operate under the assump…
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…
Gaussian Process-Based Scalar Field Estimation in GPS-Denied Environments
Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos +2
This paper presents a methodology for an autonomous agent to map an unknown scalar field in GPS-denied regions. To reduce localization errors, the agent alternates between GPS-enab…
Scalar Field Mapping with Adaptive High-Intensity Region Avoidance
Muzaffar Qureshi, Tochukwu Elijah Ogri, Zachary I. Bell +1
This research is motivated by a scenario where a group of UAVs is assigned to map an unknown scalar field, with the imperative of maintaining a safe distance from the sources of th…
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…
An adaptive optimal control approach to monocular depth observability maximization
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +2
This paper presents an integral concurrent learning (ICL)-based observer for a monocular camera to accurately estimate the Euclidean distance to features on a stationary object, un…
Output Feedback Adaptive Optimal Control of Affine Nonlinear systems with a Linear Measurement Model
Tochukwu Elijah Ogri, S. M. Nahid Mahmud, Zachary I. Bell +1
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an…