121 citations · 681 across the 31 of their papers we have counts for
5 papers · 1 filter
Multi-Modal Anomaly Detection for Unstructured and Uncertain Environments
Tianchen Ji, Sri Theja Vuppala, Girish Chowdhary +1
To achieve high-levels of autonomy, modern robots require the ability to detect and recover from anomalies and failures with minimal human supervision. Multi-modal sensor signals c…
Asynchronous Deep Model Reference Adaptive Control
Girish Joshi, Jasvir Virdi, Girish Chowdhary
In this paper, we present Asynchronous implementation of Deep Neural Network-based Model Reference Adaptive Control (DMRAC). We evaluate this new neuro-adaptive control architectur…
Elastica: A compliant mechanics environment for soft robotic control
Noel Naughton, Jiarui Sun, Arman Tekinalp +2
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodol…
Energy Shaping Control of a CyberOctopus Soft Arm
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +7
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications…
Centralized model predictive control with distributed adaptation
Prabhat K. Mishra, Tixian Wang, Mattia Gazzola +1
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are ass…