58 citations · 197 across the 46 of their papers we have counts for
50 papers
Path-Integral Formula for Computing Koopman Eigenfunctions
Shankar A. Deka, Sriram S. K. S. Narayanan, Umesh Vaidya
The paper is about the computation of the principal spectrum of the Koopman operator (i.e., eigenvalues and eigenfunctions). The principal eigenfunctions of the Koopman operator ar…
Safe Navigation using Density Functions
Andrew Zheng, Sriram S. K. S. Narayanan, Umesh Vaidya
This paper presents a novel approach for safe control synthesis using the dual formulation of the navigation problem. The main contribution of this paper is in the analytical const…
Data-driven optimal control under safety constraints using sparse Koopman approximation
Hongzhe Yu, Joseph Moyalan, Umesh Vaidya +1
In this work we approach the dual optimal reach-safe control problem using sparse approximations of Koopman operator. Matrix approximation of Koopman operator needs to solve a leas…
Off-Road Navigation of Legged Robots Using Linear Transfer Operators
Joseph Moyalan, Andrew Zheng, Sriram S. K. S Narayanan +1
This paper presents the implementation of off-road navigation on legged robots using convex optimization through linear transfer operators. Given a traversability measure that capt…
SE(3) Koopman-MPC: Data-driven Learning and Control of Quadrotor UAVs
Sriram S. K. S. Narayanan, Duvan Tellez-Castro, Sarang Sutavani +1
In this paper, we propose a novel data-driven approach for learning and control of quadrotor UAVs based on the Koopman operator and extended dynamic mode decomposition (EDMD). Buil…
Data-Driven Convex Approach to Off-road Navigation via Linear Transfer Operators
Joseph Moyalan, Yongxin Chen, Umesh Vaidya
We consider the problem of optimal navigation control design for navigation on off-road terrain. We use traversability measure to characterize the degree of difficulty of navigatio…