5 papers
State Forecasting in an Estimation Framework with Surrogate Sensor Modeling
Sriram Narayanan, Mohamed Naveed Gul Mohamed, Ishan Paranjape +3
In recent years, computational power and data availability breakthroughs have revolutionized our ability to analyze complex physical systems through the inverse problem approach. D…
Collaborative Multi-Robot Non-Prehensile Manipulation via Flow-Matching Co-Generation
Yorai Shaoul, Zhe Chen, Mohamed Naveed Gul Mohamed +3
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate obj…
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…
Time-delayed Dynamic Mode Decomposition for families of periodic trajectories in Cislunar Space
Sriram Narayanan, Mohamed Naveed Gul Mohamed, Indranil Nayak +2
In recent years, the development of the Lunar Gateway and Artemis missions has renewed interest in lunar exploration, including both manned and unmanned missions. This interest nec…
On the Feedback Law in Stochastic Optimal Nonlinear Control
Mohamed Naveed Gul Mohamed, Suman Chakravorty, Raman Goyal +1
We consider the problem of nonlinear stochastic optimal control. This problem is thought to be fundamentally intractable owing to Bellman's "curse of dimensionality". We present a…