51 citations · 196 across the 44 of their papers we have counts for
5 papers · 1 filter
Closing the Loop on Runtime Monitors with Fallback-Safe MPC
Rohan Sinha, Edward Schmerling, Marco Pavone
When we rely on deep-learned models for robotic perception, we must recognize that these models may behave unreliably on inputs dissimilar from the training data, compromising the…
Leveraging Compositional Methods for Modeling and Verification of an Autonomous Taxi System
Alessandro Pinto, Anthony Corso, Edward Schmerling
We apply a compositional formal modeling and verification method to an autonomous aircraft taxi system. We provide insights into the modeling approach and we identify several resea…
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation
Thomas Lew, Apoorva Sharma, James Harrison +2
We identify an issue in recent approaches to learning-based control that reformulate systems with uncertain dynamics using a stochastic differential equation. Specifically, we disc…
Fast, Safe, and Propellant-Efficient Spacecraft Planning under Clohessy-Wiltshire-Hill Dynamics
Joseph A. Starek, Edward Schmerling, Gabriel D. Maher +2
This paper presents a sampling-based motion planning algorithm for real-time and propellant-optimized autonomous spacecraft trajectory generation in near-circular orbits. Specifica…
Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks: a Contraction Theory Approach
Sumeet Singh, Edward Schmerling, Marco Pavone
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit a…