64 citations · 105 across the 36 of their papers we have counts for
13 papers · 1 filter
Performance Analysis of Adaptive Dynamic Tube MPC
Savva Morozov, Parker C. Lusk, Brett T. Lopez +1
Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in rea…
CLIPPER: A Graph-Theoretic Framework for Robust Data Association
Parker C. Lusk, Kaveh Fathian, Jonathan P. How
We present CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rectification), a framework for robust data association in the presence of noise and outliers. We formulate the…
A Policy Gradient Algorithm for Learning to Learn in Multiagent Reinforcement Learning
Dong-Ki Kim, Miao Liu, Matthew Riemer +6
A fundamental challenge in multiagent reinforcement learning is to learn beneficial behaviors in a shared environment with other simultaneously learning agents. In particular, each…
MADER: Trajectory Planner in Multi-Agent and Dynamic Environments
Jesus Tordesillas, Jonathan P. How
This paper presents MADER, a 3D decentralized and asynchronous trajectory planner for UAVs that generates collision-free trajectories in environments with static obstacles, dynamic…
Robustness Analysis of Neural Networks via Efficient Partitioning with Applications in Control Systems
Michael Everett, Golnaz Habibi, Jonathan P. How
Neural networks (NNs) are now routinely implemented on systems that must operate in uncertain environments, but the tools for formally analyzing how this uncertainty propagates to…
Lunar Terrain Relative Navigation Using a Convolutional Neural Network for Visual Crater Detection
Lena M. Downes, Ted J. Steiner, Jonathan P. How
Terrain relative navigation can improve the precision of a spacecraft's position estimate by detecting global features that act as supplementary measurements to correct for drift i…