3 papers
cs.RO2025
Adaptive Legged Locomotion via Online Learning for Model Predictive Control
Hongyu Zhou, Xiaoyu Zhang, Vasileios Tzoumas
We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive cont…
cs.RO2025
MorphEUS: Morphable Omnidirectional Unmanned System
Ivan Bao, José C. Díaz Peón González Pacheco, Atharva Navsalkar +5
Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we intro…
eess.SY2025
No-Regret Model Predictive Control with Online Learning of Koopman Operators
Hongyu Zhou, Vasileios Tzoumas
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual…