From the 1 of 4 linked papers with an AI index.
4 papers
Contours-Seeking Proposal Density Particle Filter and Resilient Terrain-Referenced Navigation
Junwoo Park, Hyochoong Bang
Auxiliary navigation systems are essential for the robust operation of aerial vehicles, particularly in self-contained frameworks like terrain-referenced navigation. However, chall…
Chance-Constrained Nonlinear Covariance Control via Robust Linearization Remainder Bounds
Man Jun Koh, Hyochoong Bang, SooJean Han
The paper proposes a sequential convex programming method that bounds Taylor remainders to improve covariance steering for nonlinear systems under chance constraints, using robust…
Reinforcement Learning-based Fault-Tolerant Control for Quadrotor with Online Transformer Adaptation
Dohyun Kim, Jayden Dongwoo Lee, Hyochoong Bang +1
Multirotors play a significant role in diverse field robotics applications but remain highly susceptible to actuator failures, leading to rapid instability and compromised mission…
Sparse Identification of Nonlinear Dynamics-based Model Predictive Control for Multirotor Collision Avoidance
Jayden Dongwoo Lee, Youngjae Kim, Yoonseong Kim +1
This paper proposes a data-driven model predictive control for multirotor collision avoidance considering uncertainty and an unknown model from a payload. To address this challenge…