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09/20/2023
TOPPQuad: Dynamically-Feasible Time Optimal Path Parametrization for Quadrotors
Planning time-optimal trajectories for quadrotors in cluttered environme...
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08/16/2023
Safety Filter Design for Neural Network Systems via Convex Optimization
With the increase in data availability, it has been widely demonstrated ...
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08/01/2023
Enhancing Sample Efficiency and Uncertainty Compensation in Learning-based Model Predictive Control for Aerial Robots
The recent increase in data availability and reliability has led to a su...
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04/14/2023
EV-Catcher: High-Speed Object Catching Using Low-latency Event-based Neural Networks
Event-based sensors have recently drawn increasing interest in robotic p...
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04/03/2023
Leveraging Predictive Models for Adaptive Sampling of Spatiotemporal Fluid Processes
Persistent monitoring of a spatiotemporal fluid process requires data sa...
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12/22/2022
Stochastic Nonlinear Ensemble Modeling and Control for Robot Team Environmental Monitoring
We seek methods to model, control, and analyze robot teams performing en...
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12/19/2022
Proportional Control for Stochastic Regulation on Allocation of Multi-Robots
Any strategy used to distribute a robot ensemble over a set of sequentia...
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12/19/2022
Receding Horizon Control on the Broadcast of Information in Stochastic Networks
This paper focuses on the broadcast of information on robot networks wit...
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12/03/2022
Online Estimation of the Koopman Operator Using Fourier Features
Transfer operators offer linear representations and global, physically m...
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11/24/2022
Learning-enhanced Nonlinear Model Predictive Control using Knowledge-based Neural Ordinary Differential Equations and Deep Ensembles
Nonlinear model predictive control (MPC) is a flexible and increasingly ...
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09/16/2022
LEARNEST: LEARNing Enhanced Model-based State ESTimation for Robots using Knowledge-based Neural Ordinary Differential Equations
State estimation is an important aspect in many robotics applications. I...
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08/11/2022
Adaptive Sampling of Latent Phenomena using Heterogeneous Robot Teams (ASLaP-HR)
In this paper, we present an online adaptive planning strategy for a tea...
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07/19/2022
Online Dynamics Learning for Predictive Control with an Application to Aerial Robots
In this work, we consider the task of improving the accuracy of dynamic ...
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07/15/2022
MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling
The multi-robot adaptive sampling problem aims at finding trajectories f...
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03/01/2022
Flow-Based Control of Marine Robots in Gyre-Like Environments
We present a flow-based control strategy that enables resource-constrain...
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09/13/2021
Learning and Leveraging Environmental Features to Improve Robot Awareness
This paper studies how global dynamics can inform path planning and deci...
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09/10/2021
Learning to Swarm with Knowledge-Based Neural Ordinary Differential Equations
Understanding decentralized dynamics from collective behaviors in swarms...
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09/10/2021
KNODE-MPC: A Knowledge-based Data-driven Predictive Control Framework for Aerial Robots
In this work, we consider the problem of deriving and incorporating accu...
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08/07/2021
Deformable Image Registration using Neural ODEs
Deformable image registration, aiming to find spatial correspondence bet...
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03/18/2021
Heterogeneous robot teams for modeling and prediction of multiscale environmental processes
This paper presents a framework to enable a team of heterogeneous mobile...
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10/07/2020