28 citations · 28 across the 10 of their papers we have counts for
11 papers
RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments
Adam Polevoy, Dillon Capalongo, Katherine Tang +3
In this paper, we present an approach for combining stochastic nonlinear model predictive control (SNMPC) and reinforcement learning (RL) to enable probabilistically-safe perceptio…
Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation
Ashwin Gupta, Joseph Moore
Stochastic single shooting trajectory optimization methods such as Model Predictive Path Integral control (MPPI) have been widely adopted in robotics due to their ability to reason…
A Multimodal Stochastic Planning Approach for Navigation and Multi-Robot Coordination
Mark Gonzales, Ethan Oh, Joseph Moore
In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a mult…
Real-Time Maneuver Planning for Fixed-Wing UAVs in Unsteady Flows Using a GPU-Accelerated Vortex Particle Model
Ashwin Gupta, Kevin Wolfe, Gino Perrotta +1
Unsteady aerodynamic effects can have a profound impact on aerial vehicle flight performance, especially during agile maneuvers and in complex aerodynamic environments. In this pap…
Stratified Topological Autonomy for Long-Range Coordination (STALC)
Cora A. Duggan, Adam Goertz, Adam Polevoy +5
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environme…
Dense Fixed-Wing Swarming using Receding-Horizon NMPC
Varun Madabushi, Yocheved Kopel, Adam Polevoy +1
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinea…
Multi-Agent Feedback Motion Planning using Probably Approximately Correct Nonlinear Model Predictive Control
Mark Gonzales, Adam Polevoy, Marin Kobilarov +1
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major c…
Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons
Cora A. Dimmig, Giuseppe Silano, Kimberly McGuire +4
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vi…
Uncertainty-Aware Planning for Heterogeneous Robot Teams using Dynamic Topological Graphs and Mixed-Integer Programming
Cora A. Duggan, Kevin C. Wolfe, Bradley Woosley +2
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots.…
Robust Perception-Based Navigation using PAC-NMPC with a Learned Value Function
Adam Polevoy, Mark Gonzales, Marin Kobilarov +1
Nonlinear model predictive control (NMPC) is typically restricted to short, finite horizons to limit the computational burden of online optimization. As a result, global planning f…
Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems
Craig Knuth, Glen Chou, Jamie Reese +1
We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear st…