3 papers
eess.SY2026
CAPE: Control Algorithm Performance Evaluation under Learned Vehicle Dynamics Models
Malik Ali, Musabbir Ahmed Arrafi, Nicholas M. Stiffler +1
We propose the Control Algorithm Performance Evaluation (CAPE) framework, a systematic methodology for benchmarking racing controllers under our proposed learned enhanced physics m…
cs.RO2026
LE-PAVD: Learning-Enhanced Physics-Aware Vehicle Dynamics for High-Speed Autonomous Navigation
Musabbir Ahmed Arrafi, Malik Ali, Nicholas M. Stiffler +1
Accurate modeling of nonlinear vehicle dynamics is essential for high-speed autonomous racing, where controllers operate at the handling limits. Model-based methods are interpretab…
eess.SY2025
Adaptive Modified RISE Control for Quadrotors: Enhancing Trajectory Tracking Through Uncertainty Compensation
Kevin Johnston, Musabbir Ahmed Arrafi, Krishna B Kidambi +1
This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aeria…