3 citations · 4 across the 7 of their papers we have counts for
7 papers
Dynamic Adaptation Gains for Nonlinear Systems with Unmatched Uncertainties
Brett T. Lopez, Jean-Jacques Slotine
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual…
Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties
Samuel G. Gessow, Brett T. Lopez
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched unce…
Multi-Robot Task Assignment and Path Finding for Time-Sensitive Missions with Online Task Generation
David Thorne, Brett T. Lopez
Executing time-sensitive multi-robot missions involves two distinct problems: Multi-Robot Task Assignment (MRTA) and Multi-Agent Path Finding (MAPF). Computing safe paths that comp…
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM
Kenny Chen, Ryan Nemiroff, Brett T. Lopez
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and rea…
A Contracting Hierarchical Observer for Pose-Inertial Fusion
Brett T. Lopez
This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and I…
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
Amanda Bouman, Joshua Ott, Sung-Kyun Kim +5
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked w…