10 citations · 24 across the 6 of their papers we have counts for
3 papers · 1 filter
Koopman Operators in Robot Learning
Lu Shi, Masih Haseli, Giorgos Mamakoukas +5
Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domai…
Learning Stable Models for Prediction and Control
Giorgos Mamakoukas, Ian Abraham, Todd D. Murphey
This paper demonstrates the benefits of imposing stability on data-driven Koopman operators. The data-driven identification of stable Koopman operators (DISKO) is implemented using…
Feedback Synthesis For Underactuated Systems Using Sequential Second-Order Needle Variations
Giorgos Mamakoukas, Malcolm A. MacIver, Todd D. Murphey
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the second-order needle variations of optimal control---as t…