32 citations · 87 across the 14 of their papers we have counts for
17 papers
Physical Time as a Missing Dimension of Robot Policy Memory Dynamics
Yushen Liang, Yue Peng, Baosheng Jin +6
Existing robot policy memories typically evolve with observation sequences, implicitly treating each update as the same amount of physical time. Yet identical observation histories…
Multirotor Ensemble Model Predictive Control I: Simulation Experiments
Erina Yamaguchi, Sai Ravela
Nonlinear receding horizon model predictive control is a powerful approach to controlling nonlinear dynamical systems. However, typical approaches that use the Jacobian, adjoint, a…
A Stochastic Compound Failure Model for Testing Resilience of Autonomous Fixed-Wing Aircraft I: Formulation and Simulation
Thelonious Cooper, Sai Ravela
This paper presents a Markov chain model to dynamically emulate the effects of adverse (failure) flight conditions on fixed-wing, autonomous aircraft system actuators. It implement…
Learning Inter-Annual Flood Loss Risk Models From Historical Flood Insurance Claims and Extreme Rainfall Data
Joaquin Salas, Anamitra Saha, Sai Ravela
Flooding is one of the most disastrous natural hazards, responsible for substantial economic losses. A predictive model for flood-induced financial damages is useful for many appli…
Downscaling Extreme Rainfall Using Physical-Statistical Generative Adversarial Learning
Anamitra Saha, Sai Ravela
Modeling the risk of extreme weather events in a changing climate is essential for developing effective adaptation and mitigation strategies. Although the available low-resolution…
An Adaptive Digital Autopilot for Fixed-Wing Aircraft with Actuator Faults
Joonghyun Lee, John Spencer, Juan Augusto Paredes +3
This paper develops an adaptive digital autopilot for a fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive digital autopilot is constructed…
Learn Like The Pro: Norms from Theory to Size Neural Computation
Margaret Trautner, Ziwei Li, Sai Ravela
The optimal design of neural networks is a critical problem in many applications. Here, we investigate how dynamical systems with polynomial nonlinearities can inform the design of…
Experimental Implementation of an Adaptive Digital Autopilot
Ankit Goel, Juan Augusto Paredes, Harshil Dadhaniya +4
This paper develops an adaptive digital autopilot for quadcopters and presents experimental results. The adaptive digital autopilot is constructed by augmenting the PX4 autopilot c…
Informative Neural Ensemble Kalman Learning
Margaret Trautner, Gabriel Margolis, Sai Ravela
In stochastic systems, informative approaches select key measurement or decision variables that maximize information gain to enhance the efficacy of model-related inferences. Neura…
Machine Learning for Robust Identification of Complex Nonlinear Dynamical Systems: Applications to Earth Systems Modeling
Nishant Yadav, Sai Ravela, Auroop R. Ganguly
Systems exhibiting nonlinear dynamics, including but not limited to chaos, are ubiquitous across Earth Sciences such as Meteorology, Hydrology, Climate and Ecology, as well as Biol…
Adaptive Digital PID Control of a Quadcopter with Unknown Dynamics
Ankit Goel, Abdulazeez Mohammed Salim, Ahmad Ansari +2
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward control…
The Sloop System for Individual Animal Identification with Deep Learning
Kshitij Bakliwal, Sai Ravela
The MIT Sloop system indexes and retrieves photographs from databases of non-stationary animal population distributions. To do this, it adaptively represents and matches generic vi…
Neural Networks as Geometric Chaotic Maps
Ziwei Li, Sai Ravela
The use of artificial neural networks as models of chaotic dynamics has been rapidly expanding. Still, a theoretical understanding of how neural networks learn chaos is lacking. He…
Neural Integration of Continuous Dynamics
Margaret Trautner, Sai Ravela
Neural dynamical systems are dynamical systems that are described at least in part by neural networks. The class of continuous-time neural dynamical systems must, however, be numer…
Machine Learning for the Geosciences: Challenges and Opportunities
Anuj Karpatne, Imme Ebert-Uphoff, Sai Ravela +2
Geosciences is a field of great societal relevance that requires solutions to several urgent problems facing our humanity and the planet. As geosciences enters the era of big data,…
Rainfall Advection using Velocimetry by Multiresolution Viscous Alignment
Sai Ravela, Virat Chatdarong
An algorithm to estimate motion from satellite imagery is presented. Dense displacement fields are computed from time-separated images of of significant convective activity using a…
Fast Ensemble Smoothing
S. Ravela, D. McLaughlin
Smoothing is essential to many oceanographic, meteorological and hydrological applications. The interval smoothing problem updates all desired states within a time interval using a…