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Koushil Sreenath
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Journal Articles

Geometric L 1 Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle

Prasanth Kotaru, Ryan Edmonson, Koushil Sreenath
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2020, 142(3): 031003.
Paper No: DS-18-1574
https://doi.org/10.1115/1.4045558
Published Online: December 23, 2019
View Article titled, Geometric L 1 Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle
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Topics: Control equipment, Dynamics (Mechanics), Errors, Trajectories (Physics), Uncertainty
Journal Articles

Controlling the Locomotion of Spherical Robots or Why BB-8 Works

Prithvi Akella, Oliver M. O'Reilly, Koushil Sreenath
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2019, 11(2): 024501.
Paper No: JMR-18-1121
https://doi.org/10.1115/1.4042296
Published Online: February 27, 2019
View Article titled, Controlling the Locomotion of Spherical Robots or Why BB-8 Works
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Topics: Robots, Wheels, Spherical shells, Shells
Proceedings Papers

Safety-Critical Control of a 3D Quadrotor With Range-Limited Sensing

Guofan Wu, Koushil Sreenath
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T05A006, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9913
https://doi.org/10.1115/DSCC2016-9913
View Paper titled, Safety-Critical Control of a 3D Quadrotor With Range-Limited Sensing
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Topics: Safety, Flight, Collisions (Physics), Control algorithms, Design, Dynamics (Mechanics), Robotics
Proceedings Papers

Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones

Quan Nguyen, Koushil Sreenath
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T28A005, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9910
https://doi.org/10.1115/DSCC2016-9910
View Paper titled, Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones
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Topics: Safety, Robots, Uncertainty, Control equipment, Stress, Design, Robust control, Stability, Torque
Proceedings Papers

Determining Minimum and Maximum Number of Agents Required for Planar Cable-Suspended Aerial Manipulation

Henry Hung, Niteesh Sood, Koushil Sreenath
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T23A008, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9834
https://doi.org/10.1115/DSCC2016-9834
View Paper titled, Determining Minimum and Maximum Number of Agents Required for Planar Cable-Suspended Aerial Manipulation
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Topics: Cables, Stress, Trajectories (Physics), Multi-agent systems, Thrust, Transportation systems
Proceedings Papers

Avian-Inspired Grasping for Quadrotor Micro UAVs

Justin Thomas, Joe Polin, Koushil Sreenath, Vijay Kumar
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A014, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13289
https://doi.org/10.1115/DETC2013-13289
View Paper titled, Avian-Inspired Grasping for Quadrotor Micro UAVs
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Topics: Grasping, Unmanned aerial vehicles, Design, Dynamic models, Stress, Transportation systems, Water