Santosh Mohan Rajkumar — accepted AI-conference papers

2026

Real-Time Linear MPC for Quadrotors on SE(3): An Analytical Koopman-Based Realization

Santosh Mohan Rajkumar, Chengyu Yang, Yuliang Gu, Sheng Cheng, Naira Hovakimyan, Debdipta Goswami

ICRA 2026poster

This letter presents an analytical linear parameter- varying (LPV) representation of quadrotor dynamics utilizing Koopman theory, facilitating computationally efficient linear model predictive control (LMPC) for real-time trajectory track- ing. By leveraging carefully designed Koopman observables, t…

Cited by 0 Source ↗PDF ↗Scholar ↗

2025

Real-Time Linear MPC for Quadrotors on SE(3): An Analytical Koopman-Based Realization

Santosh Mohan Rajkumar, Chengyu Yang, Yuliang Gu, Sheng Cheng, Naira Hovakimyan, Debdipta Goswami

RA-L 2025

This letter presents an analytical linear parameter-varying (LPV) representation of quadrotor dynamics utilizing Koopman theory, facilitating computationally efficient linear model predictive control (LMPC) for real-time trajectory tracking. By leveraging carefully designed Koopman observables, the

Cited by 6 Source ↗Scholar ↗