Arvind U. Raghunathan

Data-Driven Estimation of Backward Reachable and Invariant Sets for Unmodeled Systems via Active Learning

2018

Ensuring control performance with state and input constraints is facilitated by the understanding of reachable and invariant sets. While exploiting dynamical models have provided many set-based algorithms for constructing these sets, set-based methods typically do …

Covariance Steering for Uncertain Contact-rich Systems

2023

Planning and control for uncertain contact systems is challenging as it is not clear how to propagate uncertainty for planning. Contact-rich tasks can be modeled efficiently using complementarity constraints among other techniques. In this paper, …