10 citations · 32 across the 18 of their papers we have counts for
22 papers
Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments
Ruochu Yang, Ziyi Xia, Huibo Zhang +6
Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. P…
Stability Analysis of the Newton-Raphson Controller for a Class of Differentially Flat Systems
Kaicheng Niu, Yorai Wardi, Chaouki T. Abdallah
The Newton-Raphson Controller, established on the output prediction and the Newton-Raphson algorithm, is shown to be effective in a variety of control applications. Although the st…
Lightweight Tracking Control for Computationally Constrained Aerial Systems with the Newton-Raphson Method
Evanns Morales-Cuadrado, Luke Baird, Yorai Wardi +1
We investigate the performance of a lightweight tracking controller, based on a flow version of the Newton-Raphson method, applied to a miniature blimp and a mid-size quadrotor. Th…
Newton-Raphson Flow for Aggressive Quadrotor Tracking Control
Evanns Morales-Cuadrado, Christian Llanes, Yorai Wardi +1
We apply the Newton-Raphson flow tracking controller to aggressive quadrotor flight and demonstrate that it achieves good tracking performance over a suite of benchmark trajectorie…
Integral Control Barrier Functions for Dynamically Defined Control Laws
Aaron D. Ames, Gennaro Notomista, Yorai Wardi +1
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the…
Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson Flows and Barrier Functions
Shashwat Shivam, Yorai Wardi, Magnus Egerstedt +2
This paper concerns an application of a recently-developed nonlinear tracking technique to trajectory control of autonomous vehicles at traffic intersections. The technique uses a…