20 citations · 59 across the 18 of their papers we have counts for
6 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…
Universal Adaptive Control of Nonlinear Systems
Brett T. Lopez, Jean-Jacques E. Slotine
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The app…
Sliding on Manifolds: Geometric Attitude Control with Quaternions
Brett T. Lopez, Jean-Jacques E. Slotine
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sli…
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
Kenny Chen, Alexandra Pogue, Brett T. Lopez +2
Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues w…
Robust Adaptive Control Barrier Functions: An Adaptive & Data-Driven Approach to Safety (Extended Version)
Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online para…
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments
Jesus Tordesillas, Brett T. Lopez, Michael Everett +1
Planning high-speed trajectories for UAVs in unknown environments requires algorithmic techniques that enable fast reaction times to guarantee safety as more information about the…