327 citations · 1.3k across the 66 of their papers we have counts for
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Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications
Guy Scher, Sadra Sadraddini, Russ Tedrake +1
Autonomous robots typically incorporate complex sensors in their decision-making and control loops. These sensors, such as cameras and Lidars, have imperfections in their sensing a…
Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems
Tobia Marcucci, Russ Tedrake
In hybrid Model Predictive Control (MPC), a Mixed-Integer Quadratic Program (MIQP) is solved at each sampling time to compute the optimal control action. Although these optimizatio…
Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems
Sadra Sadraddini, Russ Tedrake
Piecewise affine (PWA) systems are widely used to model highly nonlinear behaviors such as contact dynamics in robot locomotion and manipulation. Existing control techniques for PW…
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures
Weiqiao Han, Russ Tedrake
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of…
Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures
Weiqiao Han, Russ Tedrake
In this paper, we design nonlinear state feedback controllers for discrete-time polynomial dynamical systems via the occupation measure approach. We propose the discrete-time contr…
Semidefinite Outer Approximation of the Backward Reachable Set of Discrete-time Autonomous Polynomial Systems
Weiqiao Han, Russ Tedrake
We approximate the backward reachable set of discrete-time autonomous polynomial systems using the recently developed occupation measure approach. We formulate the problem as an in…