An adaptive optimal control approach to monocular depth observability maximization

no code implementations • 18 Jan 2024 • Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell, Kristy Waters, Rushikesh Kamalapurkar

This paper presents an integral concurrent learning (ICL)-based observer for a monocular camera to accurately estimate the Euclidean distance to features on a stationary object, under the restriction that state information is unavailable.

State and Parameter Estimation for Affine Nonlinear Systems

no code implementations • 4 Apr 2023 • Tochukwu Elijah Ogri, Zachary I. Bell, Rushikesh Kamalapurkar

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances.

Model-based Reinforcement Learning reinforcement-learning

Output Feedback Adaptive Optimal Control of Affine Nonlinear systems with a Linear Measurement Model

no code implementations • 13 Oct 2022 • Tochukwu Elijah Ogri, S. M. Nahid Mahmud, Zachary I. Bell, Rushikesh Kamalapurkar

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances.

Model-based Reinforcement Learning reinforcement-learning +1