26 citations · 37 across the 4 of their papers we have counts for
7 papers
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
Thomas Lew, Sumeet Singh, Mario Prats +11
We propose a framework to enable multipurpose assistive mobile robots to autonomously wipe tables to clean spills and crumbs. This problem is challenging, as it requires planning w…
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings
Adam J. Thorpe, Thomas Lew, Meeko M. K. Oishi +1
We present a data-driven algorithm for efficiently computing stochastic control policies for general joint chance constrained optimal control problems. Our approach leverages the t…
Convex Optimization for Trajectory Generation
Danylo Malyuta, Taylor P. Reynolds, Michael Szmuk +4
Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tut…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling
Thomas Lew, Marco Pavone
Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously…
Contact Inertial Odometry: Collisions are your Friends
Thomas Lew, Tomoki Emmei, David D. Fan +4
Autonomous exploration of unknown environments with aerial vehicles remains a challenge, especially in perceptually degraded conditions. Dust, fog, or a lack of visual or LiDAR-bas…