no code implementations • 4 Aug 2023 • Xichen Shi, Yashwanth Kumar Nakka
The quadrotor is a $6$ degrees-of-freedom (DoF) system with underactuation.
no code implementations • 9 Aug 2022 • Hiroyasu Tsukamoto, Soon-Jo Chung, Benjamin Donitz, Michel Ingham, Declan Mages, Yashwanth Kumar Nakka
In particular, it is used to construct a non-negative function with a supermartingale property, explicitly accounting for the ISO state uncertainty and the local nature of nonlinear state estimation guarantees.
no code implementations • 18 Dec 2021 • Daniel Neamati, Yashwanth Kumar Nakka, Soon-Jo Chung
Therefore, the training data domain should include spacecraft trajectories to accurately evaluate the learned model's safety and robustness.
no code implementations • 5 Jun 2021 • Yashwanth Kumar Nakka, Soon-Jo Chung
We also present the predictor-corrector extension (gPC-SCP$^\mathrm{PC}$) for real-time motion trajectory generation in the presence of stochastic uncertainty.
no code implementations • 9 May 2020 • Yashwanth Kumar Nakka, Anqi Liu, Guanya Shi, Anima Anandkumar, Yisong Yue, Soon-Jo Chung
The Info-SNOC algorithm is used to compute a sub-optimal pool of safe motion plans that aid in exploration for learning unknown residual dynamics under safety constraints.