80 citations · 167 across the 23 of their papers we have counts for
23 papers · 1 filter
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason J. Choi, Ayush Agrawal, Koushil Sreenath +2
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation…
Inducing Structure in Reward Learning by Learning Features
Andreea Bobu, Marius Wiggert, Claire Tomlin +1
Reward learning enables robots to learn adaptable behaviors from human input. Traditional methods model the reward as a linear function of hand-crafted features, but that requires…
Discretizing Dynamics for Maximum Likelihood Constraint Inference
Kaylene C. Stocking, David L. McPherson, Robert P. Matthew +1
Maximum likelihood constraint inference is a powerful technique for identifying unmodeled constraints that affect the behavior of a demonstrator acting under a known objective func…
Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations
Lasse Peters, David Fridovich-Keil, Vicenç Rubies-Royo +2
Robots and autonomous systems must interact with one another and their environment to provide high-quality services to their users. Dynamic game theory provides an expressive theor…
FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
Mo Chen, Sylvia L. Herbert, Haimin Hu +5
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computat…
Analyzing Human Models that Adapt Online
Andrea Bajcsy, Anand Siththaranjan, Claire J. Tomlin +1
Predictive human models often need to adapt their parameters online from human data. This raises previously ignored safety-related questions for robots relying on these models such…