6 citations · 18 across the 21 of their papers we have counts for
29 papers · 1 filter
REFINE: Reachability-based Trajectory Design using Robust Feedback Linearization and Zonotopes
Jinsun Liu, Yifei Shao, Lucas Lymburner +7
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately pr…
These Maps Are Made For Walking: Real-Time Terrain Property Estimation for Mobile Robots
Parker Ewen, Adam Li, Yuxin Chen +2
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties i…
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
Sangli Teng, Amit K. Sanyal, Ram Vasudevan +2
Ultra-Local Models (ULM) have been applied to perform model-free control of nonlinear systems with unknown or partially known dynamics. Unfortunately, extending these methods to MI…
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen +3
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces genera…
A Kinematic Model for Trajectory Prediction in General Highway Scenarios
Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' fut…
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics
Daniel Bruder, Xun Fu, Ram Vasudevan
Nonlinear dynamical systems can be made easier to control by lifting them into the space of observable functions, where their evolution is described by the linear Koopman operator.…