17 citations · 59 across the 57 of their papers we have counts for
10 papers · 1 filter
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles
Shuxiao Chen, Xiangyu Wu, Mark W. Mueller +1
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localiz…
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Scott Gilroy, Derek Lau, Lizhi Yang +8
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exp…
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty
Fernando Castañeda, Jason J. Choi, Bike Zhang +2
Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are popular tools for enforcing safety and stability of a controlled system, respectively. They are commonly…
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions
Jun Zeng, Zhongyu Li, Koushil Sreenath
Safety is one of the fundamental problems in robotics. Recently, one-step or multi-step optimal control problems for discrete-time nonlinear dynamical system were formulated to off…
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity…
Robust Control Barrier-Value Functions for Safety-Critical Control
Jason J. Choi, Donggun Lee, Koushil Sreenath +2
This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs). HJ Reachability ha…