4 citations · 15 across the 20 of their papers we have counts for
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cs.RO2021
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Zhichao Li, Thai Duong, Nikolay Atanasov
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from traj…
cs.RO2021
Adaptive Control of SE(3) Hamiltonian Dynamics with Learned Disturbance Features
Thai Duong, Nikolay Atanasov
Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is…
cs.RO2021★ 1 cited
Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control
Thai Duong, Nikolay Atanasov
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently…