80 citations · 167 across the 23 of their papers we have counts for
12 papers · 1 filter
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability
Anjian Li, Somil Bansal, Georgios Giovanis +3
In Bansal et al. (2019), a novel visual navigation framework that combines learning-based and model-based approaches has been proposed. Specifically, a Convolutional Neural Network…
Design of the First Insect-scale Spinning-wing Robot
Palak Bhushan, Claire Tomlin
Here we present the design of an insect-scale microrobot that generates lift by spinning its wings. This is in contrast to most other microrobot designs at this size scale which re…
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning
Somil Bansal, Andrea Bajcsy, Ellis Ratner +2
Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human be…
Feedback Linearization for Unknown Systems via Reinforcement Learning
Tyler Westenbroek, David Fridovich-Keil, Eric Mazumdar +4
We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant…
An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics
David Fridovich-Keil, Vicenc Rubies-Royo, Claire J. Tomlin
Iterative linear-quadratic (ILQ) methods are widely used in the nonlinear optimal control community. Recent work has applied similar methodology in the setting of multiplayer gener…
Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization
Thomas Beckers, Somil Bansal, Claire J. Tomlin +1
Kernel-based nonparametric models have become very attractive for model-based control approaches for nonlinear systems. However, the selection of the kernel and its hyperparameters…