6 citations · 18 across the 9 of their papers we have counts for
9 papers
Safe, Optimal, Real-time Trajectory Planning with a Parallel Constrained Bernstein Algorithm
Shreyas Kousik, Bohao Zhang, Pengcheng Zhao +1
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor informatio…
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions
Daniel Bruder, Xun Fu, R. Brent Gillespie +2
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper pr…
Detecting Deception Attacks on Autonomous Vehicles via Linear Time-Varying Dynamic Watermarking
Matthew Porter, Sidhartha Dey, Arnav Joshi +4
Cyber-physical systems (CPS) such as autonomous vehicles rely on both on-board sensors and external communications to estimate their state. Unfortunately, these communications rend…
Shadow Transfer: Single Image Relighting For Urban Road Scenes
Alexandra Carlson, Ram Vasudevan, Matthew Johnson-Roberson
Illumination effects in images, specifically cast shadows and shading, have been shown to decrease the performance of deep neural networks on a large number of vision-based detecti…
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design
Jinsun Liu, Pengcheng Zhao, Zhenyu Gan +2
Online control design using a high-fidelity, full-order model for a bipedal robot can be challenging due to the size of the state space of the model. A commonly adopted solution to…
Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments
Sean Vaskov, Shreyas Kousik, Hannah Larson +5
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortun…