14 citations · 40 across the 20 of their papers we have counts for
7 papers · 1 filter
Structure-Preserving Learning Using Gaussian Processes and Variational Integrators
Jan Brüdigam, Martin Schuck, Alexandre Capone +2
Gaussian process regression is increasingly applied for learning unknown dynamical systems. In particular, the implicit quantification of the uncertainty of the learned model makes…
Diffeomorphically Learning Stable Koopman Operators
Petar Bevanda, Max Beier, Sebastian Kerz +3
System representations inspired by the infinite-dimensional Koopman operator (generator) are increasingly considered for predictive modeling. Due to the operator's linearity, a ran…
Learning the Koopman Eigendecomposition: A Diffeomorphic Approach
Petar Bevanda, Johannes Kirmayr, Stefan Sosnowski +1
We present a novel data-driven approach for learning linear representations of a class of stable nonlinear systems using Koopman eigenfunctions. By learning the conjugacy map betwe…
Linear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational Integrators
Jan Brüdigam, Jana Janeva, Stefan Sosnowski +1
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a cha…
Distributed Event- and Self-Triggered Coverage Control with Speed Constrained Unicycle Robots
Yuni Zhou, Lingxuan Kong, Stefan Sosnowski +2
Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally co…
Distributed Learning Consensus Control for Unknown Nonlinear Multi-Agent Systems based on Gaussian Processes
Zewen Yang, Stefan Sosnowski, Qingchen Liu +3
In this paper, a distributed learning leader-follower consensus protocol based on Gaussian process regression for a class of nonlinear multi-agent systems with unknown dynamics is…
Koopman Operator Dynamical Models: Learning, Analysis and Control
Petar Bevanda, Stefan Sosnowski, Sandra Hirche
The Koopman operator allows for handling nonlinear systems through a (globally) linear representation. In general, the operator is infinite-dimensional - necessitating finite appro…