69 citations · 462 across the 66 of their papers we have counts for
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Differential Flatness and Flatness Inspired Control of Aerial Manipulators based on Lagrangian Reduction
Skylar X. Wei, Peder Harderup, Joel Burdick
This paper shows that the dynamics of a general class of aerial manipulators, consist of an underactuated multi-rotor base with an arbitrary k-linked articulated manipulator, are d…
Quadrotor Trajectory Tracking with Learned Dynamics: Joint Koopman-based Learning of System Models and Function Dictionaries
Carl Folkestad, Skylar X. Wei, Joel W. Burdick
Nonlinear dynamical effects are crucial to the operation of many agile robotic systems. Koopman-based model learning methods can capture these nonlinear dynamical system effects in…
Nonlinear Controllability Assessment of Aerial Manipulator Systems using Lagrangian Reduction
Skylar X. Wei, Matthew R. Burkhardt, Joel Burdick
This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots. We apply methods of Lagrangian reduction to obtain t…
Koopman NMPC: Koopman-based Learning and Nonlinear Model Predictive Control of Control-affine Systems
Carl Folkestad, Joel W. Burdick
Koopman-based learning methods can potentially be practical and powerful tools for dynamical robotic systems. However, common methods to construct Koopman representations seek to l…
Risk-Averse Stochastic Shortest Path Planning
Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick +1
We consider the stochastic shortest path planning problem in MDPs, i.e., the problem of designing policies that ensure reaching a goal state from a given initial state with minimum…
Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty
Richard Cheng, Richard M. Murray, Joel W. Burdick
When autonomous robots interact with humans, such as during autonomous driving, explicit safety guarantees are crucial in order to avoid potentially life-threatening accidents. Man…