25 citations · 55 across the 17 of their papers we have counts for
19 papers
Differentiable Reinforcement Learning for Path Tracking by an Agile Fish-Like Robot
Prashanth Chivkula, Kartik Loya, Venkata Ravindhra Reddy Varikuti +1
Fish-like swimming has inspired the design of several dozens if not hundreds of bioinspired robots in the last few decades. But the control and motion planning of such robots has b…
Koopman Operator Framework for Modeling and Control of Off-Road Vehicle on Deformable Terrain
Kartik Loya, Phanindra Tallapragada
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional…
Flow primitives and infinitesimal generators of Perron-Frobenius and Koopman operators
Phanindra Tallapragada
The Koopman and the Perron-Frobenius operators are increasingly becoming popular in the control of complex nonlinear systems such as in a wide variety of robotics problems and flow…
Stabilization of vertical motion of a vehicle on bumpy terrain using deep reinforcement learning
Ameya Salvi, John Coleman, Jake Buzhardt +2
Stabilizing vertical dynamics for on-road and off-road vehicles is an important research area that has been looked at mostly from the point of view of ride comfort. The advent of a…
Controlled fluid transport by the collective motion of microrotors
Jake Buzhardt, Phanindra Tallapragada
Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micr…
Online learning of Koopman operator using streaming data from different dynamical regimes
Kartik Loya, Phanindra Tallapragada
The paper presents a framework for online learning of the Koopman operator using streaming data. Many complex systems for which data-driven modeling and control are sought provide…