4 papers
MUSE: Multimodal Uncertainty Quantification of State Estimation
Minkyung Kim, Henry Che, Bhargav Chandaka +6
Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advan…
Task-Parameter Nexus: Task-Specific Parameter Learning for Model-Based Control
Sheng Cheng, Ran Tao, Yuliang Gu +3
This paper presents the Task-Parameter Nexus (TPN), a learning-based approach for online determination of the (near-)optimal control parameters of model-based controllers (MBCs) fo…
DiffTune-MPC: Closed-Loop Learning for Model Predictive Control
Ran Tao, Sheng Cheng, Xiaofeng Wang +2
Model predictive control (MPC) has been applied to many platforms in robotics and autonomous systems for its capability to predict a system's future behavior while incorporating co…
Reliable Majority Vote Computation with Complementary Sequences for UAV Waypoint Flight Control
Alphan Sahin, Xiaofeng Wang
In this study, we propose a non-coherent over-the-air computation scheme to calculate the majority vote (MV) reliably in fading channels. The proposed approach relies on modulating…