4 papers
A Machine Learning Framework for Fault Detection, Isolation, and Severity Prediction of Autonomous VTOL Aircraft
Ripon C. Sarker, Pedram H. Dabaghian, Raman Goyal +1
Fault detection in autonomous VTOL aircraft is critical because even minor component degradations can rapidly destabilize multirotor vehicles operating in complex, safety-critical…
Industrial Dexterity Benchmark: A Hardware-Software Benchmarking Platform for Industrial Dexterous Manipulation
Honglu He, Jacob Laufer, Zhiwu Zheng +8
Dexterous manipulation remains a critical bottleneck in industrial automation; tasks such as cable routing, connector insertion, and precision assembly still rely heavily on manual…
An Optimal Solution to Infinite Horizon Nonholonomic and Discounted Nonlinear Control Problems
Mohamed Naveed Gul Mohamed, Abhijeet, Aayushman Sharma +2
This paper considers the infinite horizon optimal control problem for nonlinear systems. Under the condition of nonlinear controllability of the system to any terminal set containi…
Learning to Control under Uncertainty with Data-Based Iterative Linear Quadratic Regulator
Ran Wang, Raman Goyal, Suman Chakravorty
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of…