Výsledky vyhledávání - "Ashwin P. Dani"

Akademický článek

Learning Discrete-Time Uncertain Nonlinear Systems With Probabilistic Safety and Stability Constraints

Autor: Iman Salehi, Tyler Taplin, Ashwin P. Dani

Publikováno v: IEEE Open Journal of Control Systems, Vol 1, Pp 354-365 (2022)

This paper presents a discrete-time dynamical system model learning method from demonstration while providing probabilistic guarantees on the safety and stability of the learned model. The controlled dynamic model of a discrete-time system with a zer

Externí odkaz: https://doaj.org/article/ba149e1408bc44e49916fbfdd52582e4

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Full- and Reduced-Order Observers for Image-Based Depth Estimation Using Concurrent Learning

Autor: Ashwin P. Dani, Daniel Trombetta, Rushikesh Kamalapurkar, Ghananeel Rotithor

Publikováno v: IEEE Transactions on Control Systems Technology. 29:2647-2653

In this brief, concurrent learning (CL)-based full- and reduced-order observers for a perspective dynamical system (PDS) are developed. The PDS is a widely used model for estimating the depth of a feature point from a sequence of camera images. Build

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::9bbd86fdcd67d0233e28f48971940fa3
https://doi.org/10.1109/tcst.2020.3036369

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Dynamical system learning using extreme learning machines with safety and stability guarantees

Autor: Iman Salehi, Gang Yao, Ashwin P. Dani, Ghananeel Rotithor

Publikováno v: International Journal of Adaptive Control and Signal Processing. 35:894-914

Summary This article presents a continuous dynamical system model learning methodology that can be used to generate reference trajectories for the autonomous systems to follow, such that these traj...

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::499d9736d73dd8bbe3d1ee5cc6a55a39
https://doi.org/10.1002/acs.3237

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Chance-Constrained System Identification of Nonlinear Discrete Systems with Safety and Stability Guarantees

Autor: Iman Salehi, Tyler Taplin, Ashwin P. Dani

Publikováno v: 2022 American Control Conference (ACC).

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::1ce7a8c0210eabc706924cceab5f78f8
https://doi.org/10.23919/acc53348.2022.9867712

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Learning-based State-dependent Coefficient Form Task Space Tracking Control of Soft Robot

Autor: Rounak Bhattacharya, Ghananeel Rotithor, Ashwin P. Dani

Publikováno v: 2022 American Control Conference (ACC).

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::df4b28e8bf8275446575ea855d2a49aa
https://doi.org/10.23919/acc53348.2022.9867626

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Deep Interacting Multiple Model Filtering

Autor: Ghananeel Rotithor, Ashwin P. Dani

Publikováno v: 2022 American Control Conference (ACC).

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::45c9d88f12c9df9a43ae4281372c895e
https://doi.org/10.23919/acc53348.2022.9867791

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Human-in-the-Loop Robot Control for Human-Robot Collaboration: Human Intention Estimation and Safe Trajectory Tracking Control for Collaborative Tasks

Autor: Iman Salehi, Ashwin P. Dani, Ghananeel Rotithor, Harish Ravichandar, Daniel Trombetta

Publikováno v: IEEE Control Syst

This article provides a perspective on estimation and control problems in cyberphysical human systems (CPHSs) that work at the intersection of cyberphysical systems and human systems. The article also discusses solutions to some of the problems in CP

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8b7dfb1f411876bcda4992c7b9dcd5c0
https://doi.org/10.1109/mcs.2020.3019725

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Human Intention Estimation using Fusion of Pupil and Hand Motion

Autor: Iman Salehi, Ashwin P. Dani, Ghananeel Rotithor, Daniel Trombetta

Publikováno v: IFAC-PapersOnLine. 53:9535-9540

This paper addresses the problem of human intention inference in the context of human-robot collaboration by fusing information from both hand motion obtained using skeletal tracking and eye gaze obtained using pupil tracking to predict a human’s c

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::5eae399537dff22197ebe9f1758c8819
https://doi.org/10.1016/j.ifacol.2020.12.2431

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Safe Tracking Control of an Uncertain Euler-Lagrange System with Full-State Constraints using Barrier Functions

Autor: Ashwin P. Dani, Ghananeel Rotithor, Iman Salehi, Daniel Trombetta

Publikováno v: Proc IEEE Conf Decis Control
CDC

This paper presents a novel, safe tracking control design method that learns the parameters of an uncertain Euler-Lagrange (EL) system online using adaptive learning laws. A barrier function (BF) is first used to transform the full-state constrained

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9be1adbb8d2512b11bcf9582e532465a
https://pubmed.ncbi.nlm.nih.gov/34853489

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Shape Estimation for Elongated Deformable Object using B-spline Chained Multiple Random Matrices Model

Autor: Ashwin P. Dani, Gang Yao, Ryan Saltus

Publikováno v: Int J Intell Robot Appl

In this paper, a B-spline chained multiple random matrix models (RMMs) representation is proposed to model geometric characteristics of an elongated deformable object. The hyper degrees of freedom structure of the elongated deformable object make its

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::35791e3bdfcac10b30fc9b43a992c230
https://pubmed.ncbi.nlm.nih.gov/34423114

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