3 papers
math.OC2024
Realistic Extreme Behavior Generation for Improved AV Testing
Robert Dyro, Matthew Foutter, Ruolin Li +4
This work introduces a framework to diagnose the strengths and shortcomings of Autonomous Vehicle (AV) collision avoidance technology with synthetic yet realistic potential collisi…
math.OC2022
Second-Order Sensitivity Analysis for Bilevel Optimization
Robert Dyro, Edward Schmerling, Nikos Arechiga +1
In this work we derive a second-order approach to bilevel optimization, a type of mathematical programming in which the solution to a parameterized optimization problem (the "lower…
eess.SY2021
Particle MPC for Uncertain and Learning-Based Control
Robert Dyro, James Harrison, Apoorva Sharma +1
As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essent…