7 citations · 16 across the 11 of their papers we have counts for
3 papers · 1 filter
Robust Control Barrier Functions with Uncertainty Estimation
Ersin Daş, Skylar X. Wei, Joel W. Burdick
This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-bas…
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data
Prithvi Akella, Skylar X. Wei, Joel W. Burdick +1
Recent advances in safety-critical risk-aware control are predicated on apriori knowledge of the disturbances a system might face. This paper proposes a method to efficiently learn…
Nonlinear Controllability Assessment of Aerial Manipulator Systems using Lagrangian Reduction
Skylar X. Wei, Matthew R. Burkhardt, Joel Burdick
This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots. We apply methods of Lagrangian reduction to obtain t…