9 papers
Constraint-Unified MPC for Over-Actuated Surface Vehicles with Post-Detection Fault Reconfiguration
Sebastian Burmester, Ruiheng Jiang, Noa Sendlhofer +2
Choreographed aquatic performances require small autonomous surface vehicles to track precise paths under per-thruster force and rate limits, including after thruster failures. We…
Choreographing the Way of Water: A Computational Framework for Aquatic Robotic Art
Aswin Ramachandran, Christopher Golling, Sebastian Burmester +4
Robotic choreography in open water is governed by nonlinear fluid dynamics, which impose significant challenges due to environmental disturbances and nonlinear system dynamics. Thi…
Motion planning for hundreds of floating robots
Jan Kamm, Antonio Terpin, Raffaello D'Andrea +1
Planning collision-free motion for large robot fleets is difficult because collision avoidance induces strong inter-agent coupling that grows rapidly with team size. We consider om…
Stabilizing Fast Dynamical Systems Using Time-of-Flight Cameras
Anthony Czubarow, Antonio Terpin, Raffaello D'Andrea
Time-of-flight cameras are popular in robotics because they provide direct depth information and are compact, inexpensive, and less dependent on ambient visible light. However, the…
Privileged observations enable rapid and reliable policy discovery directly in the physical world
Antonio Terpin, Raffaello D'Andrea
We study how privileged information about a physical system affects the discovery of high-performing policies when training a reinforcement learning agent directly in the physical…
Flow Gym: A framework for the development, benchmarking, training, and deployment of flow-field quantification methods
Francesco Banelli, Antonio Terpin, Alan Bonomi +1
Particle image velocimetry (PIV) and related optical-flow methods are widely used to quantify fluid motion, but their development and evaluation are often hindered by fragmented so…
SynthPix: A lightspeed PIV image generator
Antonio Terpin, Alan Bonomi, Francesco Banelli +1
We describe SynthPix, a synthetic image generator for Particle Image Velocimetry (PIV) with a focus on performance and parallelism on accelerators, implemented in JAX. SynthPix pro…
Pinet: Optimizing hard-constrained neural networks with orthogonal projection layers
Panagiotis D. Grontas, Antonio Terpin, Efe C. Balta +2
We introduce an output layer for neural networks that ensures satisfaction of convex constraints. Our approach, net, leverages operator splitting for rapid and reliable projecti…
Distributionally Robust Linear Quadratic Gaussian Regulator with Stationary Distributions
Alain Schöbi, Nicolas Lanzetti, Florian Dörfler +2
We study the Linear Quadratic Gaussian regulation problem in the face of worst-case noise distributions when these are mutually independent, zero-mean, stationary, and within a rad…