From 84eb783f402a4367f87b269e73d420e27d2fbe11 Mon Sep 17 00:00:00 2001 From: Devansh Ramgopal Agrawal Date: Tue, 12 Nov 2024 11:51:43 -0500 Subject: [PATCH 1/6] created code tab --- content/code/2024-online-adaptive-cbf.md | 6 +++++ content/code/_index.md | 5 +++++ hugo.toml | 4 ++++ layouts/code/list.html | 19 ++++++++++++++++ layouts/code/single.html | 27 +++++++++++++++++++++++ layouts/partials/.style.html.swp | Bin 12288 -> 0 bytes layouts/partials/github-repo-card.html | 17 ++++++++++++++ 7 files changed, 78 insertions(+) create mode 100644 content/code/2024-online-adaptive-cbf.md create mode 100644 content/code/_index.md create mode 100644 layouts/code/list.html create mode 100644 layouts/code/single.html delete mode 100644 layouts/partials/.style.html.swp create mode 100644 layouts/partials/github-repo-card.html diff --git a/content/code/2024-online-adaptive-cbf.md b/content/code/2024-online-adaptive-cbf.md new file mode 100644 index 0000000..4f72ee3 --- /dev/null +++ b/content/code/2024-online-adaptive-cbf.md @@ -0,0 +1,6 @@ +--- +layout: code +title: "Online Adaptive CBFs" +date: 2024-10-22 +github: tkkim-robot/online_adaptive_cbf +--- diff --git a/content/code/_index.md b/content/code/_index.md new file mode 100644 index 0000000..b9869f7 --- /dev/null +++ b/content/code/_index.md @@ -0,0 +1,5 @@ +--- +title: Code # force it to not be plural +--- + +Here is some content diff --git a/hugo.toml b/hugo.toml index 71894f8..c1df038 100644 --- a/hugo.toml +++ b/hugo.toml @@ -29,6 +29,10 @@ buildFuture = true name = "Projects" url = "/projects/" weight = 4 + [[menu.main]] + name = "Code" + url = "/code/" + weight = 5 [params] dateFormat = "Jan 2, 2006" diff --git a/layouts/code/list.html b/layouts/code/list.html new file mode 100644 index 0000000..286af89 --- /dev/null +++ b/layouts/code/list.html @@ -0,0 +1,19 @@ +{{ define "main" }} + +

{{ .Title }}

+ +

Rendered from layouts/code/list

+ +{{ range .Pages }} + +
+ +{{ partial "github-repo-card" . }} + +
+ + +{{ end }} + + +{{ end }} diff --git a/layouts/code/single.html b/layouts/code/single.html new file mode 100644 index 0000000..d8ecefe --- /dev/null +++ b/layouts/code/single.html @@ -0,0 +1,27 @@ +{{ define "main" }} + +

Rendered from /layouts/code/single.html

+ +
+

{{ .Title }}

+
+ +{{ partial "github-repo-card" . }} + +{{ .Content }} + +{{ if .Params.bib }} +
+

Citation

+
+
+ 
+{{ .Params.bib }}
+
+
+
+
+{{ end }} + + +{{ end }} diff --git a/layouts/partials/.style.html.swp b/layouts/partials/.style.html.swp deleted file mode 100644 index c7711e852106928059a1360f7770fa86b6fa2b0d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 12288 zcmeI2O>Y}T7{@1^N@xIqI05Q|t4c|fSvw6u={n7!h(lFXAVsBu6SLm2ca_~8YiArg zN>k2=3sPUW0r?p1sULs~5)z0L2#GJi0VEFapIyg!soUm;K+j4)uRSx*%=7$a_7G*G z)`wTG)1{y#aJ?+V?6p6-b4%Zg&mOi#tZZk+w?E@L?YP_3z^4C{nTmp5>XJbeq^6mv z9W!vY*;l1YRc4#k?PNMgT%J8+ZSH0RY~U0I2CggD=ETay9(;46@Tn_vyR16IKWa2Cvh=fN4^YkvUt!8hImUu=L4umLu}2G{@_ zU;}L6-!iaXzYDv8_4fpk(<3Ki-7!yUFO^G85mI3a-4;P%seBJE&?NikD`!o+Or(uY>U zJEm~Da3M98sBwJw#$s3)HyMFPjc&|`VrlAqD^;1M)JO&&qds3=2 z-LBOrq!nCT)p`5qVXD2SzGR~RYt6lMC1E+d2a>evPZ`bm3RfRf(gRtzI&gTlx#kl+ + +{{/* split the string to get the username and repo string */}} +{{ $github_split := split .Params.github "/" }} +{{ $username := index $github_split 0 }} +{{ $repo := index $github_split 1 }} + +
+ + + +
+ + + From d6b3de57dbef87779797b7a2a3f69f6588fbfe98 Mon Sep 17 00:00:00 2001 From: Devansh Ramgopal Agrawal Date: Tue, 12 Nov 2024 12:00:43 -0500 Subject: [PATCH 2/6] updated to use the code field instead --- content/code/2024-online-adaptive-cbf.md | 2 +- layouts/code/list.html | 4 ++-- layouts/partials/github-repo-card.html | 14 ++++++++------ 3 files changed, 11 insertions(+), 9 deletions(-) diff --git a/content/code/2024-online-adaptive-cbf.md b/content/code/2024-online-adaptive-cbf.md index 4f72ee3..2d02cde 100644 --- a/content/code/2024-online-adaptive-cbf.md +++ b/content/code/2024-online-adaptive-cbf.md @@ -2,5 +2,5 @@ layout: code title: "Online Adaptive CBFs" date: 2024-10-22 -github: tkkim-robot/online_adaptive_cbf +code: https://github.com/tkkim-robot/online_adaptive_cbf --- diff --git a/layouts/code/list.html b/layouts/code/list.html index 286af89..e2db8e8 100644 --- a/layouts/code/list.html +++ b/layouts/code/list.html @@ -7,8 +7,8 @@

{{ .Title }}

{{ range .Pages }} diff --git a/layouts/partials/github-repo-card.html b/layouts/partials/github-repo-card.html index 8e1d191..d032631 100644 --- a/layouts/partials/github-repo-card.html +++ b/layouts/partials/github-repo-card.html @@ -1,17 +1,19 @@
+{{/* Expects ".Params.code" to be of the format "https://github.com/username/repo" */}} +{{/* Uses https://github.com/anuraghazra/github-readme-stats to render the card */}} + {{/* split the string to get the username and repo string */}} -{{ $github_split := split .Params.github "/" }} -{{ $username := index $github_split 0 }} -{{ $repo := index $github_split 1 }} +{{ $github_split := split .Params.code "/" }} +{{ $username := index $github_split 3 }} +{{ $repo := index $github_split 4 }}
- - +
- From f63b956f4b3981e45a15c9da393eb833d55ba0d7 Mon Sep 17 00:00:00 2001 From: Devansh Ramgopal Agrawal Date: Tue, 12 Nov 2024 12:09:58 -0500 Subject: [PATCH 3/6] updated code links on some pages, and updated papers page to include code links --- content/papers/2022-coverage-maximizing.md | 4 ++-- content/papers/2022-differentially-flat.md | 2 +- content/papers/2022-observer-controller.md | 2 +- content/papers/2023-predictive-velocity.md | 2 +- content/papers/eclares.md | 2 +- content/papers/iccbfs.md | 2 +- content/papers/sparsest_r_robust_graphs.md | 12 ++++++------ content/papers/strong_r_icra.md | 12 ++++++------ content/people/kavinmgovindarajan.md | 2 +- layouts/papers/single.html | 7 ++++++- 10 files changed, 26 insertions(+), 21 deletions(-) diff --git a/content/papers/2022-coverage-maximizing.md b/content/papers/2022-coverage-maximizing.md index d606e0d..769d0d7 100644 --- a/content/papers/2022-coverage-maximizing.md +++ b/content/papers/2022-coverage-maximizing.md @@ -4,12 +4,12 @@ title: "Coverage-Maximizing Solar-Powered Autonomous Surface Vehicle Control fo date: 2022-06-10 image: /images/15astarPathOverCoverage.png venue: "IEEE ACC 2022" -authors: +authors: - kavinmgovindarajan - Ben Haydon - Kirti Mishra - Christopher Vermillion -code: https://github.com/kmgovind/acc-2022 +code: https://github.com/kmgovind/acc-2022 abstract: "The Gulf Stream, which comes within 100 km of the United States coastline in both the Florida Straits and the vicinity of Cape Hatteras, is estimated to possess over 160 diff --git a/content/papers/2022-differentially-flat.md b/content/papers/2022-differentially-flat.md index 58953ae..2a17cdd 100644 --- a/content/papers/2022-differentially-flat.md +++ b/content/papers/2022-differentially-flat.md @@ -17,7 +17,7 @@ link: https://doi.org/10.1109/LCSYS.2021.3136465 # link to arxiv (optional) arxiv: # link to github (optional) -code: +code: https://github.com/dev10110/Multirate-Controllers-for-Differentially-Flat-Systems # link to video (optional) video: # link to pdf (optional) diff --git a/content/papers/2022-observer-controller.md b/content/papers/2022-observer-controller.md index 7c1a9da..d91a39d 100644 --- a/content/papers/2022-observer-controller.md +++ b/content/papers/2022-observer-controller.md @@ -9,7 +9,7 @@ authors: - dimitrapanagou link: https://doi.org/10.1109/LCSYS.2022.3185142 arxiv: -code: +code: https://github.com/dev10110/robust-safe-observer-controllers abstract: "This letter addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system dynamics and measurements that correspond to partial state information. The co-design of observers and controllers is critical, since even in undisturbed cases, observers and controllers designed independently may not render the system safe. We propose two approaches to synthesize observer-controller interconnections. The first approach utilizes Input-to-State Stable observers, and the second uses Bounded Error observers. Using these stability and boundedness properties of the observation error, we construct novel Control Barrier Functions that impose inequality constraints on the control inputs which, when satisfied, certifies safety. We propose quadratic program-based controllers to satisfy these constraints, and prove Lipschitz continuity of the derived controllers. Simulations and experiments on a quadrotor demonstrate the efficacy of the proposed methods." excerpt: pdf: /pdfs/2022-observer-controller.pdf diff --git a/content/papers/2023-predictive-velocity.md b/content/papers/2023-predictive-velocity.md index 3c1abed..92c3864 100644 --- a/content/papers/2023-predictive-velocity.md +++ b/content/papers/2023-predictive-velocity.md @@ -4,7 +4,7 @@ title: "Predictive Velocity Trajectory Control for a Persistently Operating Sol date: 2023-07-03 image: /images/soc_v_time.png venue: "IEEE ACC 2023" -authors: +authors: - kavinmgovindarajan - Ben Haydon - Christopher Vermillion diff --git a/content/papers/eclares.md b/content/papers/eclares.md index 0d2a875..22c46a7 100644 --- a/content/papers/eclares.md +++ b/content/papers/eclares.md @@ -11,7 +11,7 @@ image: /images/2024-eclares.png venue: "IEEE ICRA 2024" link: https://doi.org/10.1109/ICRA57147.2024.10611286 arxiv: https://arxiv.org/abs/2310.06933 -code: https://github.com/kalebbennaveed/Eclares.git +code: https://github.com/kalebbennaveed/Eclares video: https://youtu.be/1ZCgxlHitzk abstract: "Planning informative trajectories while considering the spatial distribution of the information over the environment, as well as constraints such as the robot’s limited battery capacity, makes the long-time horizon persistent coverage problem complex. Ergodic search methods consider the spatial distribution of environmental information while optimizing robot trajectories; however, current methods lack the ability to construct the target information spatial distribution for environments that vary stochastically across space and time. Moreover, current coverage methods dealing with battery capacity constraints either assume simple robot and battery models or are computationally expensive. To address these problems, we propose a framework called Eclares, in which our contribution is two-fold. 1) First, we propose a method to construct the target information spatial distribution for ergodic trajectory optimization using clarity, an information measure bounded between [0, 1]. The clarity dynamics allow us to capture information decay due to a lack of measurements and to quantify the maximum attainable information in stochastic spatiotemporal environments. 2) Second, instead of directly tracking the ergodic trajectory, we introduce the energy-aware (eware) filter, which iteratively validates the ergodic trajectory to ensure that the robot has enough energy to return to the charging station when needed. The proposed eware filter is applicable to nonlinear robot models and is computationally lightweight. We demonstrate the working of the framework through a simulation case study." pdf: /pdfs/2024-eclares.pdf diff --git a/content/papers/iccbfs.md b/content/papers/iccbfs.md index 2c77bf1..3849227 100644 --- a/content/papers/iccbfs.md +++ b/content/papers/iccbfs.md @@ -9,7 +9,7 @@ authors: - dimitrapanagou link: https://doi.org/10.1109/CDC45484.2021.9682938 arxiv: -code: +code: https://github.com/dev10110/Input-Constrained-Control-Barrier-Functions abstract: "This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for nonlinear control-affine diff --git a/content/papers/sparsest_r_robust_graphs.md b/content/papers/sparsest_r_robust_graphs.md index 2ecf4b7..2e4b0c7 100644 --- a/content/papers/sparsest_r_robust_graphs.md +++ b/content/papers/sparsest_r_robust_graphs.md @@ -4,24 +4,24 @@ layout: papers title: "Construction of the Sparsest Maximally r-Robust Graphs" # specify the date it was published date: 2024-03-01 -# list the authors. if a "/people/id" page exists for the person, it will be linked. If not, the author's name is printed exactly as you typed it. +# list the authors. if a "/people/id" page exists for the person, it will be linked. If not, the author's name is printed exactly as you typed it. authors: - haejoonl - - dimitrapanagou + - dimitrapanagou # give the main figure location, relative to /static/ image: /images/n_r_robust_graphs.png # specify the conference or journal that it was published in venue: "IEEE CDC 2024" # link to publisher site (optional) -link: +link: # link to arxiv (optional) arxiv: https://arxiv.org/abs/2409.19465 # link to github (optional) -code: +code: # link to video (optional) -video: +video: # link to pdf (optional) -pdf: +pdf: # abstract abstract: "In recent years, the notion of r-robustness for the communication graph of the network has been introduced to address the challenge of achieving consensus in the presence of misbehaving agents. Higher r-robustness typically implies higher tolerance to malicious information towards achieving resilient consensus, but it also implies more edges for the communication graph. This in turn conflicts with the need to minimize communication due to limited resources in real-world applications (e.g., multi-robot networks). In this paper, our contributions are twofold. (a) We provide the subgraph structures and tight lower bounds on the number of edges required for graphs with a given number of nodes to reach the maximum robustness. (b) We then use the results of (a) to introduce two classes of graphs that utilize the least number of edges to maintain maximum robustness. Our work is validated through a series of simulations." # bib entry (optional). the |- is used to allow for multiline entry. diff --git a/content/papers/strong_r_icra.md b/content/papers/strong_r_icra.md index 9088349..443bf81 100644 --- a/content/papers/strong_r_icra.md +++ b/content/papers/strong_r_icra.md @@ -4,24 +4,24 @@ layout: papers title: "Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions" # specify the date it was published date: 2024-09-01 -# list the authors. if a "/people/id" page exists for the person, it will be linked. If not, the author's name is printed exactly as you typed it. +# list the authors. if a "/people/id" page exists for the person, it will be linked. If not, the author's name is printed exactly as you typed it. authors: - haejoonl - - dimitrapanagou + - dimitrapanagou # give the main figure location, relative to /static/ image: /images/strong_r_icra.png # specify the conference or journal that it was published in venue: Available on arXiv # link to publisher site (optional) -link: +link: # link to arxiv (optional) arxiv: https://arxiv.org/abs/2409.14675 # link to github (optional) -code: +code: # link to video (optional) -video: +video: # link to pdf (optional) -pdf: +pdf: # abstract abstract: # bib entry (optional). the |- is used to allow for multiline entry. diff --git a/content/people/kavinmgovindarajan.md b/content/people/kavinmgovindarajan.md index 95fd80e..e6516c7 100644 --- a/content/people/kavinmgovindarajan.md +++ b/content/people/kavinmgovindarajan.md @@ -5,7 +5,7 @@ category: PhD # give the path relative to static/ image: "/images/kavinmgovindarajan.jpg" # start year, used for sorting -year: 2024 +year: 2024 # link to personal website (optional) link: "https://kmgovind.github.io/DigitalPortfolio/" # email id (optional) diff --git a/layouts/papers/single.html b/layouts/papers/single.html index 85f9161..9db5c6a 100644 --- a/layouts/papers/single.html +++ b/layouts/papers/single.html @@ -8,6 +8,11 @@

{{ .Title }}

{{ partial "paper-card" . }} +{{ if .Params.code }} +

Code

+{{ partial "github-repo-card" . }} +{{ end }} +

Abstract

{{ .Params.abstract}}

@@ -19,7 +24,7 @@

Abstract

{{ if .Params.bib }}
-

Bib

+

Bib


From a578505eabf335dff138be529eb706b79d1bad18 Mon Sep 17 00:00:00 2001
From: Taekyung Kim 
Date: Tue, 12 Nov 2024 19:46:37 -0500
Subject: [PATCH 4/6] add safe_contorl repo

---
 content/code/2024-safe-control.md | 6 ++++++
 1 file changed, 6 insertions(+)
 create mode 100644 content/code/2024-safe-control.md

diff --git a/content/code/2024-safe-control.md b/content/code/2024-safe-control.md
new file mode 100644
index 0000000..37681fa
--- /dev/null
+++ b/content/code/2024-safe-control.md
@@ -0,0 +1,6 @@
+---
+layout: code
+title:  "Safety-Critical Controllers for Robotic Navigation"
+date: 2024-07-10
+code: https://github.com/tkkim-robot/safe_control
+---

From f3ab07087da967eb0902f7f6e7dc1e8ca11aee2d Mon Sep 17 00:00:00 2001
From: Devansh Ramgopal Agrawal 
Date: Wed, 13 Nov 2024 18:38:22 -0500
Subject: [PATCH 5/6] fixed layout

---
 content/code/2024-online-adaptive-cbf2.md | 6 ++++++
 content/code/2024-online-adaptive-cbf3.md | 6 ++++++
 content/code/2024-online-adaptive-cbf4.md | 6 ++++++
 layouts/code/list.html                    | 5 +++--
 4 files changed, 21 insertions(+), 2 deletions(-)
 create mode 100644 content/code/2024-online-adaptive-cbf2.md
 create mode 100644 content/code/2024-online-adaptive-cbf3.md
 create mode 100644 content/code/2024-online-adaptive-cbf4.md

diff --git a/content/code/2024-online-adaptive-cbf2.md b/content/code/2024-online-adaptive-cbf2.md
new file mode 100644
index 0000000..2d02cde
--- /dev/null
+++ b/content/code/2024-online-adaptive-cbf2.md
@@ -0,0 +1,6 @@
+---
+layout: code
+title:  "Online Adaptive CBFs"
+date: 2024-10-22
+code: https://github.com/tkkim-robot/online_adaptive_cbf
+---
diff --git a/content/code/2024-online-adaptive-cbf3.md b/content/code/2024-online-adaptive-cbf3.md
new file mode 100644
index 0000000..2d02cde
--- /dev/null
+++ b/content/code/2024-online-adaptive-cbf3.md
@@ -0,0 +1,6 @@
+---
+layout: code
+title:  "Online Adaptive CBFs"
+date: 2024-10-22
+code: https://github.com/tkkim-robot/online_adaptive_cbf
+---
diff --git a/content/code/2024-online-adaptive-cbf4.md b/content/code/2024-online-adaptive-cbf4.md
new file mode 100644
index 0000000..2d02cde
--- /dev/null
+++ b/content/code/2024-online-adaptive-cbf4.md
@@ -0,0 +1,6 @@
+---
+layout: code
+title:  "Online Adaptive CBFs"
+date: 2024-10-22
+code: https://github.com/tkkim-robot/online_adaptive_cbf
+---
diff --git a/layouts/code/list.html b/layouts/code/list.html
index e2db8e8..a47be87 100644
--- a/layouts/code/list.html
+++ b/layouts/code/list.html
@@ -4,9 +4,10 @@ 
{{ .Title }}

 
 
 Rendered from layouts/code/list 

 
+

 {{ range .Pages }}
 
-

+

 
 {{ partial "github-repo-card" . }}
 
@@ -14,6 +15,6 @@ 
{{ .Title }}

 
 
 {{ end }}
-
+

 
 {{ end }}

From 562def8c6034491a76ff4ff347915cc299d851ba Mon Sep 17 00:00:00 2001
From: Devansh Ramgopal Agrawal 
Date: Sat, 16 Nov 2024 15:16:29 -0500
Subject: [PATCH 6/6] merged main

---
 hugo.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/hugo.toml b/hugo.toml
index d262cff..1da5b48 100644
--- a/hugo.toml
+++ b/hugo.toml
@@ -33,6 +33,7 @@ buildFuture = true
     name = "Code"
     url = "/code/"
     weight = 5
+  [[menu.main]]
     name = "Search"
     url = "/search/"
     weight = 100