6 citations · 11 across the 11 of their papers we have counts for
11 papers
Safe Bubble Cover for Motion Planning on Distance Fields
Ki Myung Brian Lee, Zhirui Dai, Cedric Le Gentil +3
We consider the problem of planning collision-free trajectories on distance fields. Our key observation is that querying a distance field at one configuration reveals a region of s…
Stabilization of Nonlinear Systems through Control Barrier Functions
Pol Mestres, Kehan Long, Melvin Leok +2
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lya…
Cross-Embodiment Robot Manipulation Skill Transfer using Latent Space Alignment
Tianyu Wang, Dwait Bhatt, Xiaolong Wang +1
This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in…
Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping
Arash Asgharivaskasi, Nikolay Atanasov
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approac…
Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers
Pol Mestres, Kehan Long, Nikolay Atanasov +1
This paper studies the well-posedness and regularity of safe stabilizing optimization-based controllers for control-affine systems in the presence of model uncertainty. When the sy…
Distributed Variational Inference for Online Supervised Learning
Parth Paritosh, Nikolay Atanasov, Sonia Martinez
Developing efficient solutions for inference problems in intelligent sensor networks is crucial for the next generation of location, tracking, and mapping services. This paper deve…