3 papers
eess.SY2026
State Forecasting in an Estimation Framework with Surrogate Sensor Modeling
Sriram Narayanan, Mohamed Naveed Gul Mohamed, Ishan Paranjape +3
In recent years, computational power and data availability breakthroughs have revolutionized our ability to analyze complex physical systems through the inverse problem approach. D…
cs.RO2026
RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments
Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while…
eess.SY2024
Time-delayed Dynamic Mode Decomposition for families of periodic trajectories in Cislunar Space
Sriram Narayanan, Mohamed Naveed Gul Mohamed, Indranil Nayak +2
In recent years, the development of the Lunar Gateway and Artemis missions has renewed interest in lunar exploration, including both manned and unmanned missions. This interest nec…