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Nalaka Amarasiri
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Journal Articles

Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021007.
Paper No: ALDSC-23-1074
https://doi.org/10.1115/1.4064517
Published Online: March 7, 2024
View Article titled, Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots
Open the PDF for Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots in another window
Topics: Control equipment, Dynamic models, Momentum, Dynamic modeling, Pole placement, Robots, Kinematics
Journal Articles

Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040902.
Paper No: ALDSC-22-1025
https://doi.org/10.1115/1.4055690
Published Online: October 19, 2022
View Article titled, Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot
Open the PDF for Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot in another window
Topics: Control equipment, Kinematics, Mobile robots, Robots, Trajectories (Physics), Wheels, Dynamics (Mechanics), Modeling, Dynamic modeling, Dynamic models