Výsledky vyhledávání - "Singh, Rajpal"

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Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems

Autor: Singh, Rajpal, Sah, Chandan Kumar, Keshavan, Jishnu

The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through data-driven

Externí odkaz: http://arxiv.org/abs/2405.09101

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A Collision Cone Approach for Control Barrier Functions

Autor: Tayal, Manan, Goswami, Bhavya Giri, Rajgopal, Karthik, Singh, Rajpal, Rao, Tejas, Keshavan, Jishnu, Jagtap, Pushpak, Kolathaya, Shishir

This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to ensure saf

Externí odkaz: http://arxiv.org/abs/2403.07043

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Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach

Autor: Tayal, Manan, Singh, Rajpal, Keshavan, Jishnu, Kolathaya, Shishir

Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionized various industries with their maneuverability and versatility, but their safe operation in dynamic environments heavily relies on effective collision avoidance techniques.

Externí odkaz: http://arxiv.org/abs/2303.15871

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