4 papers
Fast Direction-Conditioned Reachability for Motion Prediction Under Model Uncertainty
Hrishav Das, Melkior Ornik
To avoid collisions, a robot must repeatedly predict where nearby agents may move, usually with an imperfect model of their dynamics. Reachable sets provide such predictions, but c…
Input Matrix Optimization for Desired Reachable Set Warping of Linear Systems
Hrishav Das, Melkior Ornik
Shaping the reachable set of a dynamical system is a fundamental challenge in control design, with direct implications for both performance and safety. This paper considers the pro…
A Corrector-aided Look-ahead Distance-based Guidance for Online Reference Path Following with an Efficient Mid-course Guidance Strategy
Reva Dhillon, Agni Ravi Deepa, Hrishav Das +2
Efficient path-following is crucial in most of the applications of autonomous vehicles (UxV). Among various guidance strategies presented in literature, the look-ahead distance ($L…
Quantifying Maximum Actuator Degradation for a Given Performance with Full-State Feedback Control
Hrishav Das, Eliot Nychka, Raktim Bhattacharya
In this paper, we address the issue of quantifying maximum actuator degradation in linear time-invariant dynamical systems. We present a new unified framework for computing the sta…