9 papers
Wind-Informed Rapid Flight-Planning in Complex Urban Topologies via Machine Learning and Experimental Validation
Peter I. Renn, Alejandro A. Stefan-Zavala, Julian Humml +8
Advanced air mobility operations hold the potential to enhance and expand regional transportation of both people and goods in populated areas. However, hazardous flight conditions…
Planetary Exploration 3.0: A Roadmap for Software-Defined, Radically Adaptive Space Systems
Masahiro Ono, Daniel Selva, Morgan L. Cable +23
The surface and subsurface of worlds beyond Mars remain largely unexplored. Yet these worlds hold keys to fundamental questions in planetary science - from potentially habitable su…
A Narwhal-Inspired Sensing-to-Control Framework for Small Fixed-Wing Aircraft
Fengze Xie, Xiaozhou Fan, Jacob Schuster +2
Fixed-wing unmanned aerial vehicles (UAVs) offer endurance and efficiency but lack low-speed agility due to highly coupled dynamics. We present an end-to-end sensing-to-control pip…
End-to-End Conformal Calibration for Optimization Under Uncertainty
Christopher Yeh, Nicolas Christianson, Alan Wu +2
Machine learning can significantly improve performance for decision-making under uncertainty across a wide range of domains. However, ensuring robustness guarantees requires well-c…
Conformal Risk Training: End-to-End Optimization of Conformal Risk Control
Christopher Yeh, Nicolas Christianson, Adam Wierman +1
While deep learning models often achieve high predictive accuracy, their predictions typically do not come with any provable guarantees on risk or reliability, which are critical f…
Fast Non-Episodic Adaptive Tuning of Robot Controllers with Online Policy Optimization
James A. Preiss, Fengze Xie, Yiheng Lin +2
We study online algorithms to tune the parameters of a robot controller in a setting where the dynamics, policy class, and optimality objective are all time-varying. The system fol…