323 citations · 514 across the 31 of their papers we have counts for
31 papers
Individualization of atrial tachycardia models for clinical applications: Performance of fiber-independent model
Jiyue He, Arkady Pertsov, John Bullinga +1
One of the challenges in the development of patient-specific models of cardiac arrhythmias for clinical applications has been accounting for myocardial fiber organization. The fibe…
Multi-Agent Reinforcement Learning Guided by Signal Temporal Logic Specifications
Jiangwei Wang, Shuo Yang, Ziyan An +5
Reward design is a key component of deep reinforcement learning, yet some tasks and designer's objectives may be unnatural to define as a scalar cost function. Among the various te…
Safe Perception-Based Control under Stochastic Sensor Uncertainty using Conformal Prediction
Shuo Yang, George J. Pappas, Rahul Mangharam +1
We consider perception-based control using state estimates that are obtained from high-dimensional sensor measurements via learning-enabled perception maps. However, these percepti…
Differentiable Trajectory Generation for Car-like Robots with Interpolating Radial Basis Function Networks
Hongrui Zheng, Rahul Mangharam
The design of Autonomous Vehicle software has largely followed the Sense-Plan-Act model. Traditional modular AV stacks develop perception, planning, and control software separately…
Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces
Tomáš Nagy, Ahmad Amine, Truong X. Nghiem +3
Driving under varying road conditions is challenging, especially for autonomous vehicles that must adapt in real-time to changes in the environment, e.g., rain, snow, etc. It is di…
MEGA-DAgger: Imitation Learning with Multiple Imperfect Experts
Xiatao Sun, Shuo Yang, Mingyan Zhou +2
Imitation learning has been widely applied to various autonomous systems thanks to recent development in interactive algorithms that address covariate shift and compounding errors…
Drive Right: Promoting Autonomous Vehicle Education Through an Integrated Simulation Platform
Zhijie Qiao, Helen Loeb, Venkata Gurrla +3
Autonomous vehicles (AVs) are being rapidly introduced into our lives. However, public misunderstanding and mistrust have become prominent issues hindering the acceptance of these…
Physics Constrained Motion Prediction with Uncertainty Quantification
Renukanandan Tumu, Lars Lindemann, Truong Nghiem +1
Predicting the motion of dynamic agents is a critical task for guaranteeing the safety of autonomous systems. A particular challenge is that motion prediction algorithms should obe…
Towards Explainability in Modular Autonomous Vehicle Software
Hongrui Zheng, Zirui Zang, Shuo Yang +1
Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces hi…
Electroanatomic Mapping to determine Scar Regions in patients with Atrial Fibrillation
Jiyue He, Kuk Jin Jang, Katie Walsh +3
Left atrial voltage maps are routinely acquired during electroanatomic mapping in patients undergoing catheter ablation for atrial fibrillation. For patients, who have prior cathet…
You Don't Know When I Will Arrive: Unpredictable Controller Synthesis for Temporal Logic Tasks
Yu Chen, Shuo Yang, Rahul Mangharam +1
In this paper, we investigate the problem of synthesizing controllers for temporal logic specifications under security constraint. We assume that there exists a passive intruder (e…
Patient-Specific Heart Model Towards Atrial Fibrillation
Jiyue He, Arkady Pertsov, Sanjay Dixit +3
Atrial fibrillation is a heart rhythm disorder that affects tens of millions people worldwide. The most effective treatment is catheter ablation. This involves irreversible heating…
Fiber Organization has Little Effect on Electrical Activation Patterns during Focal Arrhythmias in the Left Atrium
Jiyue He, Arkady M. Pertsov, Elizabeth M. Cherry +5
Over the past two decades there has been a steady trend towards the development of realistic models of cardiac conduction with increasing levels of detail. However, making models m…
Local_INN: Implicit Map Representation and Localization with Invertible Neural Networks
Zirui Zang, Hongrui Zheng, Johannes Betz +1
Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved…
Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom
Johannes Betz, Hongrui Zheng, Zirui Zang +8
Although robotics courses are well established in higher education, the courses often focus on theory and sometimes lack the systematic coverage of the techniques involved in devel…
A Benchmark Comparison of Imitation Learning-based Control Policies for Autonomous Racing
Xiatao Sun, Mingyan Zhou, Zhijun Zhuang +3
Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driv…
Bypassing the Simulation-to-reality Gap: Online Reinforcement Learning using a Supervisor
Benjamin David Evans, Johannes Betz, Hongrui Zheng +3
Deep reinforcement learning (DRL) is a promising method to learn control policies for robots only from demonstration and experience. To cover the whole dynamic behaviour of the rob…
Differentiable Safe Controller Design through Control Barrier Functions
Shuo Yang, Shaoru Chen, Victor M. Preciado +1
Learning-based controllers, such as neural network (NN) controllers, can show high empirical performance but lack formal safety guarantees. To address this issue, control barrier f…
Game-theoretic Objective Space Planning
Hongrui Zheng, Zhijun Zhuang, Johannes Betz +1
Generating competitive strategies and performing continuous motion planning simultaneously in an adversarial setting is a challenging problem. In addition, understanding the intent…
Drive Right: Shaping Public's Trust, Understanding, and Preference Towards Autonomous Vehicles Using a Virtual Reality Driving Simulator
Zhijie Qiao, Xiatao Sun, Helen Loeb +1
Autonomous vehicles are increasingly introduced into our lives. Yet, people's misunderstanding and mistrust have become the major obstacles to the use of these technologies. In res…
Winning the 3rd Japan Automotive AI Challenge -- Autonomous Racing with the Autoware.Auto Open Source Software Stack
Zirui Zang, Renukanandan Tumu, Johannes Betz +2
The 3rd Japan Automotive AI Challenge was an international online autonomous racing challenge where 164 teams competed in December 2021. This paper outlines the winning strategy to…
Gradient-free Multi-domain Optimization for Autonomous Systems
Hongrui Zheng, Johannes Betz, Rahul Mangharam
Autonomous systems are composed of several subsystems such as mechanical, propulsion, perception, planning and control. These are traditionally designed separately which makes perf…
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Johannes Betz, Hongrui Zheng, Alexander Liniger +5
The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware…
Stress Testing Autonomous Racing Overtake Maneuvers with RRT
Stanley Bak, Johannes Betz, Abhinav Chawla +2
High-performance autonomy often must operate at the boundaries of safety. When external agents are present in a system, the process of ensuring safety without sacrificing performan…