32 citations · 44 across the 8 of their papers we have counts for
5 papers · 1 filter
Knowledge-based Neural Ordinary Differential Equations for Cosserat Rod-based Soft Robots
Tom Z. Jiahao, Ryan Adolf, Cynthia Sung +1
Soft robots have many advantages over rigid robots thanks to their compliant and passive nature. However, it is generally challenging to model the dynamics of soft robots due to th…
Leveraging Predictive Models for Adaptive Sampling of Spatiotemporal Fluid Processes
Sandeep Manjanna, Tom Z. Jiahao, M. Ani Hsieh
Persistent monitoring of a spatiotemporal fluid process requires data sampling and predictive modeling of the process being monitored. In this paper we present PASST algorithm: Pre…
Online Dynamics Learning for Predictive Control with an Application to Aerial Robots
Tom Z. Jiahao, Kong Yao Chee, M. Ani Hsieh
In this work, we consider the task of improving the accuracy of dynamic models for model predictive control (MPC) in an online setting. Although prediction models can be learned an…
Learning to Swarm with Knowledge-Based Neural Ordinary Differential Equations
Tom Z. Jiahao, Lishuo Pan, M. Ani Hsieh
Understanding decentralized dynamics from collective behaviors in swarms is crucial for informing robot controller designs in artificial swarms and multiagent robotic systems. Howe…
KNODE-MPC: A Knowledge-based Data-driven Predictive Control Framework for Aerial Robots
Kong Yao Chee, Tom Z. Jiahao, M. Ani Hsieh
In this work, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies…