3 papers
cs.RO2018
Learn Fast, Forget Slow: Safe Predictive Learning Control for Systems with Unknown and Changing Dynamics Performing Repetitive Tasks
Christopher D. McKinnon, Angela P. Schoellig
We present a control method for improved repetitive path following for a ground vehicle that is geared towards long-term operation where the operating conditions can change over ti…
cs.RO2018
Experience Recommendation for Long Term Safe Learning-based Model Predictive Control in Changing Operating Conditions
Christopher D. McKinnon, Angela P. Schoellig
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimag…
cs.RO2016
Unscented External Force and Torque Estimation for Quadrotors
Christopher D. McKinnon, Angela P. Schoellig
In this paper, we describe an algorithm, based on the well-known Unscented Quaternion Estimator, to estimate external forces and torques acting on a quadrotor. This formulation use…