9 papers
Uncertainty-Aware Ankle Exoskeleton Control
Fatima Mumtaza Tourk, Bishoy Galoaa, Sanat Shajan +3
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, res…
Approximating Safety Feedback Without a Safety Oracle via Model Predictive Control
Jeff Pflueger, Michael Everett
Safe decision-making algorithms for control of mobile robots often require the existence of feedback to verify the safety of proposed actions. This feedback is assumed to be direct…
Sparse Variable Projection in Robotic Perception: Exploiting Separable Structure for Efficient Nonlinear Optimization
Alan Papalia, Nikolas Sanderson, Haoyu Han +3
Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been well-exploited to scale solvers, a complementary and underexploited…
Practical and Performant Enhancements for Maximization of Algebraic Connectivity
Leonard Jung, Alan Papalia, Kevin Doherty +1
Long-term state estimation over graphs remains challenging as current graph estimation methods scale poorly on large, long-term graphs. To address this, our work advances a current…
Learning Smooth State-Dependent Traversability from Dense Point Clouds
Zihao Dong, Alan Papalia, Leonard Jung +4
A key open challenge in off-road autonomy is that the traversability of terrain often depends on the vehicle's state. In particular, some obstacles are only traversable from some o…
Verification of Visual Controllers via Compositional Geometric Transformations
Alexander Estornell, Leonard Jung, Michael Everett
Perception-based neural network controllers are increasingly used in autonomous systems that rely on visual inputs to operate in the real world. Ensuring the safety of such systems…