4 papers
Battery-Aware Predictive Trajectory Planning and Control for Multirotors Under Disturbances
Krishna Bhavithavya Kidambi
This paper presents a battery-aware predictive trajectory-planning and control framework for multirotors operating under spatially localized disturbances. Candidate trajectories ar…
CAPE: Control Algorithm Performance Evaluation under Learned Vehicle Dynamics Models
Malik Ali, Musabbir Ahmed Arrafi, Nicholas M. Stiffler +1
We propose the Control Algorithm Performance Evaluation (CAPE) framework, a systematic methodology for benchmarking racing controllers under our proposed learned enhanced physics m…
DynSSM: A Physics-Aware State-Space Memory Framework for Learning Vehicle Dynamics
Musabbir Ahmed Arrafi, Malik Ali, Nicholas M. Stiffler +1
Accurate modeling of nonlinear vehicle dynamics is essential for high-speed autonomous racing, where controllers operate at the handling limits. Model-based methods are interpretab…
Adaptive Modified RISE Control for Quadrotors: Enhancing Trajectory Tracking Through Uncertainty Compensation
Kevin Johnston, Musabbir Ahmed Arrafi, Krishna B Kidambi +1
This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aeria…