4 papers
Learning deep Koopman operators with convex stability constraints
Marc Mitjans, Liangting Wu, Roberto Tron
In this paper, we present a novel sufficient condition for the stability of discrete-time linear systems that can be represented as a set of piecewise linear constraints, which mak…
Koopman pose predictions for temporally consistent human walking estimations
Marc Mitjans, David M. Levine, Louis N. Awad +1
We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system t…
Sample-Based Output-Feedback Navigation with Bearing Measurements
Mahroo Bahreinian, Marc Mitjans, Roy Xing +1
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition o…
Robust Sample-Based Output-Feedback Path Planning
Mahroo Bahreinian, Marc Mitjans, Roberto Tron
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidl…