3 papers
cs.RO2026
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…
eess.SY2026
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…
cs.RO2026
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…