Leila Amanzadeh — accepted AI-conference papers

2024

Predictive Control With Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots

Leila Amanzadeh, Taizoon Chunawala, Randall T. Fawcett, Alexander Leonessa, Kaveh Akbari Hamed

RA-L 2024

This letter formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating law. At the framework's high level, an indirect adaptive l

Cited by 13 Source ↗Scholar ↗

2023

Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion

Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed

ICRA 2023poster

The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems theory to model the sophisticated and high-dimensional struct…

Cited by 23 Source ↗Scholar ↗