Publications (10)
Scalable switched slab coupler based optical phased array on silicon nitride
Pascual Muñoz, Daniel Pastor, Luis A. Bru +4
A two-dimensional optical-phased array is demonstrated by using a multiple-input star coupler, compatible with FMCW LiDAR. Previous approach using a single-input design achieves tw…
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments
Jason Gibson, Bogdan Vlahov, David Fan +4
Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging m…
Design and Autonomous Stabilization of a Ballistically Launched Multirotor
Amanda Bouman, Paul Nadan, Matthew Anderson +4
Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, whe…
Thermal tuners on a Silicon Nitride platform
Daniel Pérez, Juan Fernández, RocÃo Baños +11
In this paper, the design trade-offs for the implementation of small footprint thermal tuners on silicon nitride are presented, and explored through measurements and supporting sim…
Extended Dynamic Mode Decomposition with Learned Koopman Eigenfunctions for Prediction and Control
Carl Folkestad, Daniel Pastor, Igor Mezic +3
This paper presents a novel learning framework to construct Koopman eigenfunctions for unknown, nonlinear dynamics using data gathered from experiments. The learning framework can…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Design of a Ballistically-Launched Foldable Multirotor
Daniel Pastor, Jacob Izraelevitz, Paul Nadan +3
The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a…
Granular Gym: High Performance Simulation for Robotic Tasks with Granular Materials
David Millard, Daniel Pastor, Joseph Bowkett +2
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and…
Episodic Koopman Learning of Nonlinear Robot Dynamics with Application to Fast Multirotor Landing
Carl Folkestad, Daniel Pastor, Joel W. Burdick
This paper presents a novel episodic method to learn a robot's nonlinear dynamics model and an increasingly optimal control sequence for a set of tasks. The method is based on the…
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
Xianmei Lei, Taeyeon Kim, Nicolas Marchal +8
Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and chall…