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Manavendra Desai
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Clf-cbf based quadratic programs for safe motion control of nonholonomic mobile robots in presence of moving obstacles
M Desai, A Ghaffari
2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics…, 2022
142022
A control scheme for 360 thrust vectoring of cycloidal propellers with forward speed
M Desai, A Halder, M Benedict, YL Young
Ocean Engineering 249, 110833, 2022
62022
Exponential barrier functions for safe steering of nonholonomic vehicles with actuator time-delay
A Ghaffari, M Desai
IEEE Access 10, 9184-9197, 2022
52022
Augmenting maneuverability of UUVs with cycloidal propellers
M Desai, R Gokhale, A Halder, M Benedict, YL Young
Preprints, 2020
42020
Improved Vehicle Safety Via Nonlinear Estimation of Tire-Road Force Saturation
M Desai, A Ghaffari
2023 IEEE International Automated Vehicle Validation Conference (IAVVC), 1-6, 2023
12023
Auxiliary Control to Avoid Undesirable Equilibria in Constrained Quadratic Programs for Trajectory Tracking Applications
M Desai, A Ghaffari
IEEE Transactions on Robotics 39 (3), 2078-2092, 2023
12023
Estimating Modeling Errors in Vehicle Dynamics for Timely Detection of Tire Force Saturation
M Desai, A Ghaffari
Authorea Preprints, 2024
2024
Safety-Control of Mobile Robots Under Time-Delay Using Barrier Certificates and a Two-Layer Predictor
A Ghaffari, M Desai
arXiv preprint arXiv:2104.15047, 2021
2021
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Articles 1–8