3 papers
cs.RO2026
Real-Time Disturbance-Aware Koopman Model Predictive Control for Quadrotors in Spatially Varying Winds
Stella Kombo, Masih Haseli, Alejandro A. Stefan-Zavala +3
Reliable quadrotor flight in disturbed environments requires predictive models that remain accurate as unmodeled aerodynamic effects change during deployment. We introduce a distur…
cs.RO2025
Real-Time Learning of Predictive Dynamic Obstacle Models for Robotic Motion Planning
Stella Kombo, Masih Haseli, Skylar X. Wei +1
Autonomous systems often must predict the motions of nearby agents from partial and noisy data. This paper asks and answers the question: "can we learn, in real-time, a nonlinear p…
eess.SY2025
Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach
Ersin Das, William A. Welch, Patrick Spieler +14
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload…