6 papers
Self-Adaptive Learning and Model Predictive Control for Tracking Unknown Dynamics with No Regret
Atharva Navsalkar, Hongyu Zhou, Vasileios Tzoumas
We propose a self-adaptive online learning for control method for tracking unknown target dynamics. The target dynamics can exhibit switching behavior, particularly, a mixture of s…
MorphQuad: Morphable Quadrotor for Superhuman Maneuverability, Manipulation, and Resiliency
Jose Diaz Peon Gonzalez Pacheco, Jiawei Xu, Andrew Zhao +7
Infrastructure maintenance, contact-based inspection, and emergency response can benefit from aerial vehicles that act as a flying human hand with extreme maneuverability, manipula…
Efficient Domain-Adaptive Policy Learning via Kernel Representation with Application to Quadrotor Control under Non-Stationary Disturbances
Hongyu Zhou, Mingtian Tan, Vasileios Tzoumas
We present an algorithm for efficient domain-adaptive policy learning via kernel representations. Learning domain-adaptive policies is challenging since it requires an environment…
Adaptive Legged Locomotion via Online Learning for Model Predictive Control
Hongyu Zhou, Xiaoyu Zhang, Vasileios Tzoumas
We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive cont…
MorphEUS: Morphable Omnidirectional Unmanned System
Ivan Bao, José C. Díaz Peón González Pacheco, Atharva Navsalkar +5
Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we intro…
No-Regret Model Predictive Control with Online Learning of Koopman Operators
Hongyu Zhou, Vasileios Tzoumas
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual…