6 papers
Safe Multi-Robot Collaborative Transport Using Density Functions
Jagannath Prasad Sahoo, Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents a hierarchical density-based model predictive control framework for safe collaborative manipulation by multiple quadrupedal robots. The framework enables a team…
Spectral Koopman Approach for Reconstructing State-space Geometry of Cislunar Restricted 3-Body Problem
Subhrajit Sinha, Sriram S. K. S. Narayanan, Raktim Bhattacharya +1
In this work, we propose a novel approach, based on the path integral formulation of Koopman spectrum, to discover the phase-space geometry of the planar Cislunar Restricted 3 Body…
Safety Critical Model Predictive Control Using Discrete-Time Control Density Functions
Sriram S. K. S. Narayanan, Sajad Ahmadi, Javad Mohammadpour Velni +1
This paper presents MPC-CDF, a new approach integrating control density functions (CDFs) within a model predictive control (MPC) framework to ensure safety-critical control in nonl…
Safe Navigation in Dynamic Environments using Density Functions
Sriram S. K. S Narayanan, Joseph Moyalan, Umesh Vaidya
This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an…
Control Density Function for Robust Safety and Convergence
Joseph Moyalan, Sriram S. K. S Narayanan, Umesh Vaidya
We introduce a novel approach for safe control design based on the density function. A control density function (CDF) is introduced to synthesize a safe controller for a nonlinear…
Synthesizing Controller for Safe Navigation using Control Density Function
Joseph Moyalan, Sriram S. K. S Narayanan, Andrew Zheng +1
We consider the problem of navigating a nonlinear dynamical system from some initial set to some target set while avoiding collision with an unsafe set. We extend the concept of de…