140 citations · 337 across the 15 of their papers we have counts for
4 papers · 1 filter
Conformal Koopman for Embedded Nonlinear Control with Statistical Robustness: Theory and Real-World Validation
Koki Hirano, Hiroyasu Tsukamoto
We propose a fully data-driven, Koopman-based framework for statistically robust control of discrete-time nonlinear systems with linear embeddings. Establishing a connection betwee…
CaRT: Certified Safety and Robust Tracking in Learning-based Motion Planning for Multi-Agent Systems
Hiroyasu Tsukamoto, Benjamin Rivière, Changrak Choi +2
The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-base…
Neural-Rendezvous: Provably Robust Guidance and Control to Encounter Interstellar Objects
Hiroyasu Tsukamoto, Soon-Jo Chung, Yashwanth Kumar Nakka +3
Interstellar objects (ISOs) are likely representatives of primitive materials invaluable in understanding exoplanetary star systems. Due to their poorly constrained orbits with gen…
Learning-based Robust Motion Planning with Guaranteed Stability: A Contraction Theory Approach
Hiroyasu Tsukamoto, Soon-Jo Chung
This paper presents Learning-based Autonomous Guidance with RObustness and Stability guarantees (LAG-ROS), which provides machine learning-based nonlinear motion planners with form…