Joseph Moyalan — accepted AI-conference papers

2023

Convex Approach to Data-Driven Off-Road Navigation via Linear Transfer Operators

Joseph Moyalan, Yongxin Chen, Umesh Vaidya

RA-L 2023

We consider the problem of optimal control design for navigation on off-road terrain. We use a traversability measure to characterize the difficulty of navigation on off-road terrain. The traversability measure captures terrain properties essential for navigation, such as elevation maps, roughness,

Cited by 10 Source ↗Scholar ↗

2023

Data-driven optimal control under safety constraints using sparse Koopman approximation

Hongzhe Yu, Joseph Moyalan, Umesh Vaidya, Yongxin Chen

ICRA 2023poster

In this work we approach the dual optimal reach-safe control problem using sparse approximations of Koopman operator. Matrix approximation of Koopman operator needs to solve a least-squares (LS) problem in the lifted function space, which is computationally intractable for fine discretizations and h…

Cited by 3 Source ↗Scholar ↗