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07/18/2023
Online Self-Supervised Thermal Water Segmentation for Aerial Vehicles
We present a new method to adapt an RGB-trained water segmentation netwo...
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07/13/2023
CaRT: Certified Safety and Robust Tracking in Learning-based Motion Planning for Multi-Agent Systems
The key innovation of our analytical method, CaRT, lies in establishing ...
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10/26/2022
Interstellar Object Accessibility and Mission Design
Interstellar objects (ISOs) are fascinating and under-explored celestial...
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10/09/2022
Unsupervised RGB-to-Thermal Domain Adaptation via Multi-Domain Attention Network
This work presents a new method for unsupervised thermal image classific...
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08/09/2022
Neural-Rendezvous: Learning-based Robust Guidance and Control to Encounter Interstellar Objects
Interstellar objects (ISOs), astronomical objects not gravitationally bo...
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05/13/2022
Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds
Executing safe and precise flight maneuvers in dynamic high-speed winds ...
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12/18/2021
Learning-based methods to model small body gravity fields for proximity operations: Safety and Robustness
Accurate gravity field models are essential for safe proximity operation...
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10/02/2021
A Theoretical Overview of Neural Contraction Metrics for Learning-based Control with Guaranteed Stability
This paper presents a theoretical overview of a Neural Contraction Metri...
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10/01/2021
Contraction Theory for Nonlinear Stability Analysis and Learning-based Control: A Tutorial Overview
Contraction theory is an analytical tool to study differential dynamics ...
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06/11/2021
Meta-Adaptive Nonlinear Control: Theory and Algorithms
We present an online multi-task learning approach for adaptive nonlinear...
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06/05/2021
Trajectory Optimization of Chance-Constrained Nonlinear Stochastic Systems for Motion Planning and Control
We present gPC-SCP: Generalized Polynomial Chaos-based Sequential Convex...
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05/05/2021
H-TD2: Hybrid Temporal Difference Learning for Adaptive Urban Taxi Dispatch
We present H-TD2: Hybrid Temporal Difference Learning for Taxi Dispatch,...
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04/20/2021
Neural Tree Expansion for Multi-Robot Planning in Non-Cooperative Environments
We present a self-improving, neural tree expansion method for multi-robo...
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03/04/2021
Learning-based Adaptive Control via Contraction Theory
We present a new deep learning-based adaptive control framework for nonl...
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03/02/2021
Meta-Learning-Based Robust Adaptive Flight Control Under Uncertain Wind Conditions
Realtime model learning proves challenging for complex dynamical systems...
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02/25/2021
Imitation Learning for Robust and Safe Real-time Motion Planning: A Contraction Theory Approach
This paper presents Learning-based Autonomous Guidance with Robustness, ...
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12/10/2020
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions
We present Neural-Swarm2, a learning-based method for motion planning an...
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11/28/2020
Rules of the Road: Towards Safety and Liveness Guarantees for Autonomous Vehicles
The ability to guarantee safety and progress for all vehicles is vital t...
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11/06/2020
Neural Stochastic Contraction Metrics for Robust Control and Estimation
We present neural stochastic contraction metrics, a new design framework...
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05/09/2020
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems
Learning-based control algorithms require collection of abundant supervi...
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03/17/2020
Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique c...
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03/06/2020
Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions
In this paper, we present Neural-Swarm, a nonlinear decentralized stable...
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02/26/2020
GLAS: Global-to-Local Safe Autonomy Synthesis for Multi-Robot Motion Planning with End-to-End Learning
We present GLAS: Global-to-Local Autonomy Synthesis, a provably-safe, au...
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02/13/2020
Beyond No-Regret: Competitive Control via Online Optimization with Memory
This paper studies online control with adversarial disturbances using to...
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06/13/2019
Robust Regression for Safe Exploration in Control
We study the problem of safe learning and exploration in sequential cont...
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11/19/2018
Neural Lander: Stable Drone Landing Control using Learned Dynamics
Precise trajectory control near ground is difficult for multi-rotor dron...
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12/11/2017