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sriram-2502/README.md

  • 👋 Hi, I’m Sriram Krishnamoorthy I am a graduate Mechanical Engineering student at Clemson University, with expertise in robotics and optimal control. My current project involves data-driven control for quadruped locomotion over challenging terrains. This involves trajectory optimization using a global planner and optimal control using a model predictive control. Besides this, I have designed adaptive control algorithms for collaborative manipulation using multiagent systems for drones and ground robots.

  • 👀 I’m interested in ...

    • Data-driven control
    • Motion Planning
    • Optimal Control
    • Model Predictive Control
    • Deep learning
    • Reinforcement learning

  • Check out my recent projects:

    • I developed SE(3) Koopman-MPC framework for data-driven control using the Koopman operator and model predictive controller for quadrotors and quadruped robots.
    • I designed a linear time-varying model predictive controller for quadruped locomotion
    • I formulated on a density-based motion planner for safe navigation of robotic systems
    • I developed a Koopman Autoencoder for learning-based control complex nonlinear systems such as quadruped robots

  • Check out my google schoar

  • 🌱 I’m currently learning about traversability mapping using LIDARs for offroad navigation

  • 📫 How to reach me ... [email protected] or tweet at me @sriram2502

Popular repositories Loading

  1. KoopmanMPC_Quadrotor KoopmanMPC_Quadrotor Public

    Develop a Koopman operator based MPC for controlling a quadrotor

    MATLAB 47 4

  2. KoopmanMPC_AV KoopmanMPC_AV Public

    This repo is for developing a Koopman operator based MPC for autonomous vehicles.

    MATLAB 14

  3. Deep_Koopman_AutoEncoder Deep_Koopman_AutoEncoder Public

    DNN based Koopman autoencoder model

    Jupyter Notebook 12

  4. mpc_cdf mpc_cdf Public

    Discrete time safe MPC with CDF constraints

    MATLAB 5

  5. Koopman_PathIntegral Koopman_PathIntegral Public

    This repo is used to document my progress in computing the principle eigenfunctions of the Koopman operator using path integrals

    Jupyter Notebook 2 1

  6. Optim_EnergyShaping Optim_EnergyShaping Public

    Optimization based control for quadruped locomotion using energy shaping

    MATLAB 1