6 papers · 1 filter
Conflict-Based Lazy Search for Fast Multi-Manipulator Planning
Dongliang Zheng, Zhipeng Wang, Siqi Wang +4
Employing multiple manipulators can boost efficiency and accomplish tasks that a single manipulator cannot do. However, real-time planning for multiple manipulators in a cluttered…
Factor Graph-Based Shape Estimation for Continuum Robots via Magnus Expansion
Lorenzo Ticozzi, Patricio A. Vela, Panagiotis Tsiotras
Reconstructing the shape of continuum manipulators from sparse, noisy sensor data is a challenging task, owing to the infinite-dimensional nature of such systems. Existing approach…
Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion
Jacob Knaup, Jovin D'sa, Behdad Chalaki +3
Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Tr…
Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions
Ji Yin, Oswin So, Eric Yang Yu +2
A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have show…
Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games
Zhiyuan Zhang, Panagiotis Tsiotras
We present Residual Descent Differential Dynamic Game (RD3G), a Newton-based solver for constrained multi-agent game-control problems. The proposed solver seeks a local Nash equili…
Beyond One Model Fits All: Ensemble Deep Learning for Autonomous Vehicles
Hemanth Manjunatha, Panagiotis Tsiotras
Deep learning has revolutionized autonomous driving by enabling vehicles to perceive and interpret their surroundings with remarkable accuracy. This progress is attributed to vario…