90 citations · 910 across the 140 of their papers we have counts for
9 papers · 1 filter
Safe Learning of Quadrotor Dynamics Using Barrier Certificates
Li Wang, Evangelos A. Theodorou, Magnus Egerstedt
To effectively control complex dynamical systems, accurate nonlinear models are typically needed. However, these models are not always known. In this paper, we present a data-drive…
Agile Autonomous Driving using End-to-End Deep Imitation Learning
Yunpeng Pan, Ching-An Cheng, Kamil Saigol +4
We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with adva…
Aggressive Deep Driving: Model Predictive Control with a CNN Cost Model
Paul Drews, Grady Williams, Brian Goldfain +2
We present a framework for vision-based model predictive control (MPC) for the task of aggressive, high-speed autonomous driving. Our approach uses deep convolutional neural networ…
Autonomous Racing with AutoRally Vehicles and Differential Games
Grady Williams, Brian Goldfain, Paul Drews +2
Safe autonomous vehicles must be able to predict and react to the drivers around them. Previous control methods rely heavily on pre-computation and are unable to react to dynamic e…
Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving
Grady Williams, Paul Drews, Brian Goldfain +2
We present an information theoretic approach to stochastic optimal control problems that can be used to derive general sampling based optimization schemes. This new mathematical me…
Stochastic trajectory optimization for mechanical systems with parametric uncertainties
George I. Boutselis, Yunpeng Pan, Gerardo De La Tore +1
In this paper we develop a novel, discrete-time optimal control framework for mechanical systems with uncertain model parameters. We consider finite-horizon problems where the perf…
Pseudospectral Model Predictive Control under Partially Learned Dynamics
Manan Gandhi, Yunpeng Pan, Evangelos Theodorou
Trajectory optimization of a controlled dynamical system is an essential part of autonomy, however many trajectory optimization techniques are limited by the fidelity of the underl…
Differential Dynamic Programming for time-delayed systems
David D. Fan, Evangelos A. Theodorou
Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Prog…
Variational Policy for Guiding Point Processes
Yichen Wang, Grady Williams, Evangelos Theodorou +1
Temporal point processes have been widely applied to model event sequence data generated by online users. In this paper, we consider the problem of how to design the optimal contro…