3 citations · 6 across the 8 of their papers we have counts for
8 papers
Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning
Anusha Srikanthan, Hanli Zhang, Spencer Folk +2
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in qua…
ADMM-MCBF-LCA: A Layered Control Architecture for Safe Real-Time Navigation
Anusha Srikanthan, Yifan Xue, Vijay Kumar +2
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We a…
Closed-loop Analysis of ADMM-based Suboptimal Linear Model Predictive Control
Anusha Srikanthan, Aren Karapetyan, Vijay Kumar +1
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing…
Why Change Your Controller When You Can Change Your Planner: Drag-Aware Trajectory Generation for Quadrotor Systems
Hanli Zhang, Anusha Srikanthan, Spencer Folk +2
Motivated by the increasing use of quadrotors for payload delivery, we consider a joint trajectory generation and feedback control design problem for a quadrotor experiencing aerod…
Augmented Lagrangian Methods as Layered Control Architectures
Anusha Srikanthan, Vijay Kumar, Nikolai Matni
For optimal control problems that involve planning and following a trajectory, two degree of freedom (2DOF) controllers are a ubiquitously used control architecture that decomposes…
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems
Anusha Srikanthan, Fengjun Yang, Igor Spasojevic +3
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer use…
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation
Sukriti Singh, Anusha Srikanthan, Vivek Mallampati +1
Task allocation can enable effective coordination of multi-robot teams to accomplish tasks that are intractable for individual robots. However, existing approaches to task allocati…
Resource-Aware Adaptation of Heterogeneous Strategies for Coalition Formation
Anusha Srikanthan, Harish Ravichandar
Existing approaches to coalition formation often assume that requirements associated with tasks are precisely specified by the human operator. However, prior work has demonstrated…