26 citations · 91 across the 20 of their papers we have counts for
5 papers · 1 filter
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis
Thomas Lew, Lucas Janson, Riccardo Bonalli +1
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging…
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation
Thomas Lew, Apoorva Sharma, James Harrison +2
We identify an issue in recent approaches to learning-based control that reformulate systems with uncertain dynamics using a stochastic differential equation. Specifically, we disc…
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…
Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC
Jan Schilliger, Thomas Lew, Spencer M. Richards +3
Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement,…
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…