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Arun Lakshmanan
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Safe Feedback Motion Planning: A Contraction Theory and ℒ1-Adaptive Control Based Approach
A Lakshmanan, A Gahlawat, N Hovakimyan
2020 59th IEEE Conference on Decision and Control (CDC), 1578-1583, 2020
402020
Tube-certified trajectory tracking for nonlinear systems with robust control contraction metrics
P Zhao, A Lakshmanan, K Ackerman, A Gahlawat, M Pavone, ...
IEEE Robotics and Automation Letters 7 (2), 5528-5535, 2022
272022
L1Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Z Wu, S Cheng, KA Ackerman, A Gahlawat, A Lakshmanan, P Zhao, ...
2022 International Conference on Robotics and Automation (ICRA), 1329-1336, 2022
202022
Contraction L1-Adaptive Control using Gaussian Processes
A Gahlawat, A Lakshmanan, L Song, A Patterson, Z Wu, N Hovakimyan, ...
Learning for Dynamics and Control, 1027-1040, 2021
162021
Design and control of a small aerial manipulator for indoor environments
RM Jones, D Sun, G Barsi Haberfeld, A Lakshmanan, T Marinho, ...
AIAA Information Systems-AIAA Infotech@ Aerospace, 1374, 2017
152017
Intent-aware probabilistic trajectory estimation for collision prediction with uncertainty quantification
A Patterson, A Lakshmanan, N Hovakimyan
Conference on Decision and Control 2019, 2019
132019
Proximity Queries for Absolutely Continuous Parametric Curves
A Lakshmanan, A Patterson, V Cichella, N Hovakimyan
Robotics: Science and Systems XV, 2019
102019
Carebots
T Marinho, C Widdowson, A Oetting, A Lakshmanan, H Cui, ...
Mechanical Engineering 138 (09), S8-S13, 2016
82016
RL1-GP: Safe simultaneous learning and control
A Gahlawat, A Lakshmanan, L Song, A Patterson, Z Wu, N Hovakimyan, ...
arXiv preprint arXiv:2009.03864, 2020
52020
VR study of human-multicopter interaction in a residential setting
T Marinho, A Lakshmanan, V Cichella, C Widdowson, H Cui, RM Jones, ...
2016 IEEE Virtual Reality (VR), 331-331, 2016
52016
Piecewise Bézier curve trajectory generation and control for quadrotors
A Lakshmanan
32016
Quad: Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
Z Wu, S Cheng, P Zhao, A Gahlawat, KA Ackerman, A Lakshmanan, ...
arXiv preprint arXiv:2302.07208, 2023
2023
Safe planning and control via L1-adaptation and contraction theory
A Lakshmanan
University of Illinois at Urbana-Champaign, 2021
2021
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