2 papers
cs.RO2026
Orientation Control of Soft Robots via Adiabatic Spectral Submanifolds
Aron Karakai, Roshan S. Kaundinya, Mike Yan Michelis +2
Soft robots are commonly sought for safety-critical interactions in delicate environments, where accurate position and orientation control is imperative. Model predictive control (…
math.OC2025
Convergence Analysis of Distributed Optimization: A Dissipativity Framework
Aron Karakai, Jaap Eising, Andrea Martinelli +1
We develop a system-theoretic framework for the structured analysis of distributed optimization algorithms with decomposable cost functions. We model such algorithms as a network o…