290 citations · 1.5k across the 41 of their papers we have counts for
15 papers · 1 filter
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions
Guanya Shi, Wolfgang Hönig, Xichen Shi +2
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation…
Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles
Karena X. Cai, Tung Phan-Minh, Soon-Jo Chung +1
The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for designing autonomous vehicle be…
Neural Stochastic Contraction Metrics for Learning-based Control and Estimation
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques E. Slotine
We present Neural Stochastic Contraction Metrics (NSCM), a new design framework for provably-stable robust control and estimation for a class of stochastic nonlinear systems. It us…
Sub-Optimality of a Dyadic Adaptive Control Architecture
Aditya A. Paranjape, Soon-Jo Chung
The dyadic adaptive control architecture evolved as a solution to the problem of designing control laws for nonlinear systems with unmatched nonlinearities, disturbances and uncert…
Competitive Control with Delayed Imperfect Information
Chenkai Yu, Guanya Shi, Soon-Jo Chung +2
This paper studies the impact of imperfect information in online control with adversarial disturbances. In particular, we consider both delayed state feedback and inexact predictio…
Numerical Predictive Control for Delay Compensation
Xichen Shi, Michael O'Connell, Soon-Jo Chung
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerica…