4 papers
Model Predictive Control for Aggressive Driving Over Uneven Terrain
Tyler Han, Alex Liu, Anqi Li +3
Terrain traversability in unstructured off-road autonomy has traditionally relied on semantic classification, resource-intensive dynamics models, or purely geometry-based methods t…
Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving
Sidharth Talia, Matt Schmittle, Alexander Lambert +3
Off-road autonomy, crucial for applications such as search-and-rescue, agriculture, and planetary exploration, poses unique problems due to challenging terrains, as well as due to…
Deep Model Predictive Optimization
Jacob Sacks, Rwik Rana, Kevin Huang +3
A major challenge in robotics is to design robust policies which enable complex and agile behaviors in the real world. On one end of the spectrum, we have model-free reinforcement…
DATT: Deep Adaptive Trajectory Tracking for Quadrotor Control
Kevin Huang, Rwik Rana, Alexander Spitzer +2
Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, w…