3 papers
math.DS2021
Representing and computing the B-derivative of an vector field's flow
George Council, Shai Revzen, Samuel A. Burden
This paper concerns the first-order approximation of the piecewise-differentiable flow generated by a class of nonsmooth vector fields. Specifically, we represent and compute the B…
cs.RO2021
iLQR for Piecewise-Smooth Hybrid Dynamical Systems
Nathan J. Kong, George Council, Aaron M. Johnson
Trajectory optimization is a popular strategy for planning trajectories for robotic systems. However, many robotic tasks require changing contact conditions, which is difficult due…
cs.RO2020
The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems
Nathan J. Kong, J. Joe Payne, George Council +1
Many state estimation and control algorithms require knowledge of how probability distributions propagate through dynamical systems. However, despite hybrid dynamical systems becom…