4 papers
Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots
Ruturaj Sambhus, Muneeb Ahmad, Basit Muhammad Imran +3
Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigatin…
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics
Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi +6
Model predictive control (MPC) combined with reduced-order template models has emerged as a powerful tool for trajectory optimization in dynamic legged locomotion. However, loco-ma…
Spiking Neural Network: a low power solution for physical layer authentication
Jung Hoon Lee, Sujith Vijayan
Deep learning (DL) is a powerful tool that can solve complex problems, and thus, it seems natural to assume that DL can be used to enhance the security of wireless communication. H…
Two out of Three (ToT): using self-consistency to make robust predictions
Jung Hoon Lee, Sujith Vijayan
Deep learning (DL) can automatically construct intelligent agents, deep neural networks (alternatively, DL models), that can outperform humans in certain tasks. However, the operat…