6 citations · 11 across the 7 of their papers we have counts for
3 papers · 1 filter
Safety-Critical Controller Verification via Sim2Real Gap Quantification
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
The well-known quote from George Box states that: "All models are wrong, but some are useful." To develop more useful models, we quantify the inaccuracy with which a given model re…
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
In this letter, the authors propose a two-step approach to evaluate and verify a true system's capacity to satisfy its operational objective. Specifically, whenever the system obje…
Interactive multi-modal motion planning with Branch Model Predictive Control
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker +2
Motion planning for autonomous robots and vehicles in presence of uncontrolled agents remains a challenging problem as the reactive behaviors of the uncontrolled agents must be con…