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math.OC2023
Dynamical System Approach for Time-Varying Constrained Convex Optimization Problems
Rejitha Raveendran, Arun D. Mahindrakar, Umesh Vaidya
Optimization problems emerging in most of the real-world applications are dynamic, where either the objective function or the constraints change continuously over time. This paper…
cs.RO2023
Safe Motion Planning for Quadruped Robots Using Density Functions
Sriram S. K. S Narayanan, Andrew Zheng, Umesh Vaidya
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a mod…
eess.SY2023
Spectral Koopman Method for Identifying Stability Boundary
Bhagyashree Umathe, Umesh Vaidya
The paper is about characterizing the stability boundary of an autonomous dynamical system using the Koopman spectrum. For a dynamical system with an asymptotically stable equilibr…