9 citations · 9 across the 4 of their papers we have counts for
5 papers
Race to Recovery: Designing Advanced Safety Systems for Autonomous Driving via Learning Autonomous Racing
Teodor Ilie, Kleber Cabral, Sidney Givigi
Vehicles that lose control at the handling limit through icing, hydroplaning, or an abrupt evasive maneuver fall outside the operating envelope of production safety systems such as…
Lie Group Control Architectures for UAVs: a Comparison of SE2(3)-Based Approaches in Simulation and Hardware
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This paper presents the integration and experimental validation of advanced control strategies for quadcopters based on Lie groups. We build upon recent theoretical developments on…
Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, ou…
Real-Time Fast Marching Tree for Mobile Robot Motion Planning in Dynamic Environments
Jefferson Silveira, Kleber Cabral, Sidney Givigi +1
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic o…
Emergent Structure in Multi-agent Systems Using Geometric Embeddings
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scen…