228 citations · 509 across the 39 of their papers we have counts for
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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…
Numerical and experimental realization of analytical SLAM
Jozef Bucko, Yulia Sandamirskaya, Jean-Jacques Slotine
Analytical approach to SLAM problem was introduced in the recent years. In our work we investigate the method numerically with the motivation of using the algorithm in a real hardw…
Tight estimates of exit and containment probabilities for nonlinear stochastic systems
Quang-Cuong Pham, Bastien Mallein, Jean-Jacques Slotine
Tight estimates of exit/containment probabilities are of particular importance in many control problems. Yet, estimating the exit/containment probabilities is non-trivial: even for…
Sequential Convex Restriction and its Applications in Robust Optimization
Dongchan Lee, Konstantin Turitsyn, Jean-Jacques Slotine
This paper presents a convex sufficient condition for solving a system of nonlinear equations under parametric changes and proposes a sequential convex optimization method for solv…
Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization
Sumeet Singh, Spencer M. Richards, Vikas Sindhwani +2
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key contribution is a control-theoretic regularizer…
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…