20 citations · 59 across the 18 of their papers we have counts for
4 papers · 1 filter
Contraction Metrics in Adaptive Nonlinear Control
Brett T. Lopez, Jean-Jacques E. Slotine
Lyapunov stability theory is the bedrock of direct adaptive control. Fundamentally, Lyapunov stability requires constructing a distance-like function which must decrease with time…
Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions
Aleix Paris, Brett T. Lopez, Jonathan P. How
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and pr…
Dynamic Tube MPC for Nonlinear Systems
Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
Modeling error or external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation…
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments
Jesus Tordesillas, Brett T. Lopez, Jonathan P. How
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the op…