4 papers
A Lyapunov-based MPC for Distributed Multi Agent Systems with Time Delays and Packet Dropouts using Hidden Markov Models
Loaie Solyman, Aamir Ahmad, Ayman El-Badawy
We propose a SCHMM LMPC framework, integrating Semi Continuous Hidden Markov Models with Lyapunov based Model Predictive Control, for distributed optimal control of multi agent sys…
Multitask Reinforcement Learning for Quadcopter Attitude Stabilization and Tracking using Graph Policy
Yu Tang Liu, Afonso Vale, Aamir Ahmad +2
Quadcopter attitude control involves two tasks: smooth attitude tracking and aggressive stabilization from arbitrary states. Although both can be formulated as tracking problems, t…
Task and Domain Adaptive Reinforcement Learning for Robot Control
Yu Tang Liu, Nilaksh Singh, Aamir Ahmad
Deep reinforcement learning (DRL) has shown remarkable success in simulation domains, yet its application in designing robot controllers remains limited, due to its single-task ori…
Autonomous Blimp Control via H-infinity Robust Deep Residual Reinforcement Learning
Yang Zuo, Yu Tang Liu, Aamir Ahmad
Due to their superior energy efficiency, blimps may replace quadcopters for long-duration aerial tasks. However, designing a controller for blimps to handle complex dynamics, model…