4 citations · 15 across the 20 of their papers we have counts for
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Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems
Valentin Duruisseaux, Thai Duong, Melvin Leok +1
Incorporating prior knowledge of physics laws and structural properties of dynamical systems into the design of deep learning architectures has proven to be a powerful technique fo…
LEMURS: Learning Distributed Multi-Robot Interactions
Eduardo Sebastian, Thai Duong, Nikolay Atanasov +2
This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the m…
Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Zhichao Li, Thai Duong, Nikolay Atanasov
Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a compl…
Physics-guided Learning-based Adaptive Control on the SE(3) Manifold
Thai Duong, Nikolay Atanasov
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use o…