42 citations · 338 across the 135 of their papers we have counts for
55 papers · 1 filter
Distributionally Robust Adaptive Iterative Covariance Steering for Small-Body Proximity Operations
Vivek Khatana, Aditya Gahlawat, Naira Hovakimyan +1
Autonomous small-body proximity operations require continuous-thrust guidance under uncertain gravity, solar-radiation pressure (SRP), and stochastic disturbances. We combine itera…
Uncertainty-Aware Vision-Based Autonomous Aerial Refueling
Minhyuk Jang, Thinh Nguyen, Vivek Khatana +3
Probe-and-drogue refueling (PDR) requires accurate terminal alignment of a receiver probe with an uninstrumented, dynamically moving drogue despite uncertainty in both relative-sta…
Distributionally Robust Planning with Adaptive Control
Astghik Hakobyan, Amaras Nazarians, Aditya Gahlawat +2
Safe operation of autonomous systems requires robustness to both model uncertainty and uncertainty in the environment. We propose DRP-AC, a hierarchical framework fo…
Residual-Aware Distributionally Robust EKF: Absorbing Linearization Mismatch via Wasserstein Ambiguity
Minhyuk Jang, Jungjin Lee, Astghik Hakobyan +2
The extended Kalman filter (EKF) is a cornerstone of nonlinear state estimation, yet its performance is fundamentally limited by noise-model mismatch and linearization errors. We d…
Robust Adaptive MPC in the Presence of Nonlinear Time-Varying Uncertainties: An Uncertainty Compensation Approach
Ran Tao, Pan Zhao, Ilya Kolmanovsky +1
This paper introduces an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with nonlinear time-varying uncertainties. The f…
Distributionally Robust Imitation Learning: Layered Control Architecture for Certifiable Autonomy
Aditya Gahlawat, Ahmed Aboudonia, Sandeep Banik +5
Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, I…