43 citations · 128 across the 28 of their papers we have counts for
30 papers
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang +4
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation task…
Data-Driven Track Following Control for Dual Stage-Actuator Hard Disk Drives
Nikhil Potu Surya Prakash, Joohwan Seo, Alexander Rose +1
In this paper, we present a frequency domain data-driven feedback control design methodology for the design of tracking controllers for hard disk drives with two-stage actuator as…
Geometric Impedance Control on SE(3) for Robotic Manipulators
Joohwan Seo, Nikhil Potu Surya Prakash, Alexander Rose +2
After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While imp…
Data-Driven Strictly Positive Real System Identification with prior System Knowledge
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
Strictly Positive Real (SPR) transfer functions arise in many areas of engineering like passivity theory in circuit analysis and adaptive control to name a few. In many physical sy…
Adaptive Feedforward Reference Design for Active Vibration Rejection in Multi-Actuator Hard Disk Drives
Zhi Chen, Nikhil Potu Surya Prakash, Roberto Horowitz
In December 2017, Seagate unveiled the Multi Actuator Technology to double the data performance of the future generation hard disk drives (HDD). This technology will equip drives w…
System Identification in Multi-Actuator Hard Disk Drives with Colored Noises using Observer/Kalman Filter Identification (OKID) Framework
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
Multi Actuator Technology in Hard Disk drives (HDDs) equips drives with two dual stage actuators (DSA) each comprising of a voice coil motor (VCM) actuator and a piezoelectric micr…
A Highway Toll Lane Framework that Unites Autonomous Vehicles and High-occupancy Vehicles
Ruolin Li, Philip N. Brown, Roberto Horowitz
We consider the scenario where human-driven/autonomous vehicles with low/high occupancy are sharing a segment of highway and autonomous vehicles are capable of increasing the traff…
Employing Altruistic Vehicles at On-ramps to Improve the Social Traffic Conditions
Ruolin Li, Philip N. Brown, Roberto Horowitz
Highway on-ramps are regarded as typical bottlenecks in transportation networks. In previous work, mainline vehicles' selfish lane choice behavior at on-ramps is studied and regard…
Frequency Separation based Adaptive Feedforward Control for Rejecting Wideband Vibration with Application to Hard Disk Drives
Jinwen Pan, Zhi Chen, Yong Wang +1
In this paper, a frequency separation based adaptive feedforward control algorithm is developed with the ability to identify the plant and do compensation region by region. In this…
Improving Urban Traffic Throughput with Vehicle Platooning: Theory and Experiments
Stanley W. Smith, Yeojun Kim, Jacopo Guanetti +7
In this paper we present a model-predictive control (MPC) based approach for vehicle platooning in an urban traffic setting. Our primary goal is to demonstrate that vehicle platoon…
Macroscopic Modeling, Calibration, and Simulation of Managed Lane-Freeway Networks, Part II: Network-scale Calibration and Case Studies
Matthew A. Wright, Roberto Horowitz, Alex A. Kurzhanskiy
In Part I of this paper series, several macroscopic traffic model elements for mathematically describing freeway networks equipped with managed lane facilities were proposed. These…
Attentional Policies for Cross-Context Multi-Agent Reinforcement Learning
Matthew A. Wright, Roberto Horowitz
Many potential applications of reinforcement learning in the real world involve interacting with other agents whose numbers vary over time. We propose new neural policy architectur…
An Extended Game-Theoretic Model for Aggregate Lane Choice Behavior of Vehicles at Traffic Diverges with a Bifurcating Lane
Ruolin Li, Negar Mehr, Roberto Horowitz
Road network junctions, such as merges and diverges, often act as bottlenecks that initiate and exacerbate congestion. More complex junction configurations lead to more complex dri…
Pricing Traffic Networks with Mixed Vehicle Autonomy
Negar Mehr, Roberto Horowitz
In a traffic network, vehicles normally select their routes selfishly. Consequently, traffic networks normally operate at an equilibrium characterized by Wardrop conditions. Howeve…
Neural-Attention-Based Deep Learning Architectures for Modeling Traffic Dynamics on Lane Graphs
Matthew A. Wright, Simon F. G. Ehlers, Roberto Horowitz
Deep neural networks can be powerful tools, but require careful application-specific design to ensure that the most informative relationships in the data are learnable. In this pap…
How Will the Presence of Autonomous Vehicles Affect the Equilibrium State of Traffic Networks?
Negar Mehr, Roberto Horowitz
It is known that connected and autonomous vehicles are capable of maintaining shorter headways and distances when they form platoons of vehicles. Thus, such technologies can result…
Vehicle Localization and Control on Roads with Prior Grade Map
Roya Firoozi, Jacopo Guanetti, Roberto Horowitz +1
We propose a map-aided vehicle localization method for GPS-denied environments. This approach exploits prior knowledge of the road grade map and vehicle on-board sensor measurement…
A Game Theoretic Macroscopic Model of Bypassing at Traffic Diverges with Applications to Mixed Autonomy Networks
Negar Mehr, Ruolin Li, Roberto Horowitz
Vehicle bypassing is known to negatively affect delays at traffic diverges. However, due to the complexities of this phenomenon, accurate and yet simple models of such lane change…
A Framework for Robust Assimilation of Potentially Malign Third-Party Data, and its Statistical Meaning
Matthew A. Wright, Roberto Horowitz
This paper presents a model-based method for fusing data from multiple sensors with a hypothesis-test-based component for rejecting potentially faulty or otherwise malign data. Our…
Mixed H2/H-infinity Data-Driven Control Design for Hard Disk Drives
Omid Bagherieh, Roberto Horowitz
A frequency based data-driven control design considering mixed H2/H-infinity control objectives is developed for multiple input-single output systems. The main advantage of the dat…
A Dynamic-System-Based Approach to Modeling Driver Movements Across General-Purpose/Managed Lane Interfaces
Matthew A. Wright, Roberto Horowitz, Alex A. Kurzhanskiy
To help mitigate road congestion caused by the unrelenting growth of traffic demand, many transportation authorities have implemented managed lane policies, which restrict certain…
Generic second-order macroscopic traffic node model for general multi-input multi-output road junctions via a dynamic system approach
Matthew A. Wright, Roberto Horowitz
This paper addresses an open problem in traffic modeling: the second-order macroscopic node problem. A second-order macroscopic traffic model, in contrast to a first-order model, a…
Macroscopic Modeling, Calibration, and Simulation of Managed Lane-Freeway Networks, Part I: Topological and Phenomenological Modeling
Matthew A. Wright, Roberto Horowitz, Alex A. Kurzhanskiy
To help mitigate road congestion caused by the unrelenting growth of traffic demand, many transit authorities have implemented managed lane policies. Managed lanes typically run pa…
Particle-Filter-Enabled Real-Time Sensor Fault Detection Without a Model of Faults
Matthew A. Wright, Roberto Horowitz
We are experiencing an explosion in the amount of sensors measuring our activities and the world around us. These sensors are spread throughout the built environment and can help u…