85 citations · 207 across the 7 of their papers we have counts for
8 papers
Environment-Aware Learning of Smooth GNSS Covariance Dynamics for Autonomous Racing
Y. Deemo Chen, Arion Zimmermann, Thomas A. Berrueta +1
Ensuring accurate and stable state estimation is a challenging task crucial to safety-critical domains such as high-speed autonomous racing, where measurement uncertainty must be b…
Maximum diffusion reinforcement learning
Thomas A. Berrueta, Allison Pinosky, Todd D. Murphey
Robots and animals both experience the world through their bodies and senses. Their embodiment constrains their experiences, ensuring they unfold continuously in space and time. As…
Emergent Microrobotic Oscillators via Asymmetry-Induced Order
Jing Fan Yang, Thomas A. Berrueta, Allan M. Brooks +10
Spontaneous low-frequency oscillations on the order of several hertz are the drivers of many crucial processes in nature. From bacterial swimming to mammal gaits, the conversion of…
Active Learning in Robotics: A Review of Control Principles
Annalisa T. Taylor, Thomas A. Berrueta, Todd D. Murphey
Active learning is a decision-making process. In both abstract and physical settings, active learning demands both analysis and action. This is a review of active learning in robot…
Low rattling: A predictive principle for self-organization in active collectives
Pavel Chvykov, Thomas A. Berrueta, Akash Vardhan +6
Self-organization is frequently observed in active collectives, from ant rafts to molecular motor assemblies. General principles describing self-organization away from equilibrium…
Dynamical System Segmentation for Information Measures in Motion
Thomas A. Berrueta, Ana Pervan, Kathleen Fitzsimons +1
Motions carry information about the underlying task being executed. Previous work in human motion analysis suggests that complex motions may result from the composition of fundamen…
Information Requirements of Collision-Based Micromanipulation
Alexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta +2
We present a task-centered formal analysis of the relative power of several robot designs, inspired by the unique properties and constraints of micro-scale robotic systems. Our tas…
Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device
Aleksandra Kalinowska, Thomas A. Berrueta, Adam Zoss +1
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution wit…