4 papers
Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach
Ersin Das, William A. Welch, Patrick Spieler +14
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload…
AI Space Cortex: An Experimental System for Future Era Space Exploration
Thomas Touma, Ersin DaÅ, Erica Tevere +9
Our Robust, Explainable Autonomy for Scientific Icy Moon Operations (REASIMO) effort contributes to NASA's Concepts for Ocean worlds Life Detection Technology (COLDTech) program, w…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Bayesian Optimal Experimental Design for Robot Kinematic Calibration
Ersin Das, Thomas Touma, Joel W. Burdick
This paper develops a Bayesian optimal experimental design for robot kinematic calibration on . Our method builds upon a Gaussian process ap…