Recent Publications
Recent Publications
Hardik Parwana, Ruiyang Wang, and Dimitra Panagou. "Algorithms for Finding Compatible Constraints in Receding-Horizon Control of Dynamical Systems." In 2024 American Control Conference (ACC)
Hardik Parwana, Mitchell Black, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, and Danil Prokhorov. "Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions." In RSS 2024 Workshop on Towards Safe Autonomy: Emerging Requirements, Definitions, and Methods. Available on arXiv:2407.13693 (2024).
Garg, Kunal, James Usevitch, Joseph Breeden, Mitchell Black, Devansh Agrawal, Hardik Parwana, and Dimitra Panagou. "Advances in the Theory of Control Barrier Functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems." In 2024 Annual Reviews in Control
Hardik Parwana, Aquib Mustafa, and Dimitra Panagou. "Trust-based rate-tunable control barrier functions for non-cooperative multi-agent systems." In 2022 IEEE Conference on Decision and Control (CDC)
Hardik Parwana, and Dimitra Panagou. "Recursive feasibility guided optimal parameter adaptation of differential convex optimization policies for safety-critical systems." In 2022 International Conference on Robotics and Automation (ICRA)
Bhargavapuri, Mahathi, and Hardik Parwana. "A Novel Quaternion-based Nonlinear Dynamic Inversion for Rigid Body Control." In 2021 Indian Control Conference (ICC)
Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, and Dimitra Panagou. "A constructive method for designing safe multirate controllers for differentially-flat systems." In 2021 IEEE Control Systems Letters
Hardik Parwana, Mitchell Black, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Danil Prokhorov, and Dimitra Panagou. "Risk-aware MPPI for Stochastic Hybrid Systems." arXiv:2411.09198 (2024).
Long, Kehan, Hardik Parwana, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, and Nikolay Atanasov. "Neural Configuration Distance Function for Continuum Robot Control." arXiv:2409.13865 (2024).
Hardik Parwana, Mitchell Black, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Danil Prokhorov, and Dimitra Panagou. "Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation." arXiv:2312.07803 (2023).
Hardik Parwana, and Dimitra Panagou. "Rate-tunable control barrier functions: Methods and algorithms for online adaptation." arXiv:2303.12966 (2023).
Hardik Parwana, and Dimitra Panagou. "Foresee: Model-based reinforcement learning using unscented transform with application to tuning of control barrier functions." arXiv:2209.12644 (2022).
Wang, Tiehua, Hardik Parwana, Kazuki Umemoto, Takahiro Endo, and Fumitoshi Matsuno. "Non-cascade adaptive sliding mode control for quadrotor UAVs under parametric uncertainties and external disturbance with indoor experiments." Journal of Intelligent & Robotic Systems 102 (2021): 1-21.
Patrikar, Jay, Venkata Ramana Makkapati, Anay Pattanaik, Hardik Parwana, and Mangal Kothari. "Nested saturation based guidance law for unmanned aerial vehicles." Journal of Dynamic Systems, Measurement, and Control 141, no. 7 (2019): 071008.
Swarnkar, Swati, Hardik Parwana, Mangal Kothari, and Abhishek Abhishek. "Biplane-quadrotor tail-sitter uav: Flight dynamics and control." Journal of Guidance, Control, and Dynamics 41, no. 5 (2018): 1049-1067.
Swarnkar, Swati, Hardik Parwana, Mangal Kothari, and Abhishek Abhishek. "Development of flight dynamics model and control of biplane-quadrotor uav." In 2018 AIAA Guidance, Navigation, and Control conference, p. 1851. 2018.
Gaur, Krishnraj S., Hardik Parwana, Ajay Bhatt, Gaurav Pandey, and Mangal Kothari. "Low cost solution for pose estimation of quadrotor." In 2018 AIAA Information Systems-AIAA Infotech@ Aerospace, p. 0466. 2018.
Hardik Parwana, Jay S. Patrikar, and Mangal Kothari. "A novel fully quaternion based nonlinear attitude and position controller." In 2018 AIAA Guidance, Navigation, and Control Conference, p. 1587. 2018.