Prasanth Kotaru — accepted AI-conference papers

2024

Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control

Massimiliano De Sa, Prasanth Kotaru, Koushil Sreenath

ICRA 2024poster

Control barrier functions have become an increasingly popular framework for safe real-time control. In this work, we present a computationally low-cost framework for synthesizing barrier functions over point cloud data for safe vision-based control. We take advantage of surface geometry to locally d…

Cited by 9 Source ↗Scholar ↗

2020

Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload

Jun Zeng, Prasanth Kotaru, Mark W. Mueller, Koushil Sreenath

RA-L 2020

Generating agile maneuvers for a quadrotor with a cable-suspended load is a challenging problem. State-of-the-art approaches often need significant computation time and complex parameter tuning. We use a coordinate-free geometric formulation and exploit a differential flatness based hybrid model of

Cited by 67 Source ↗Scholar ↗