754 citations · 778 across the 6 of their papers we have counts for
8 papers
ROS-X-Habitat: Bridging the ROS Ecosystem with Embodied AI
Guanxiong Chen, Haoyu Yang, Ian M. Mitchell
We introduce ROS-X-Habitat, a software interface that bridges the AI Habitat platform for embodied learning-based agents with other robotics resources via ROS. This interface not o…
Safe Motion Planning against Multimodal Distributions based on a Scenario Approach
Heejin Ahn, Colin Chen, Ian M. Mitchell +1
We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for exa…
Invariant, Viability and Discriminating Kernel Under-Approximation via Zonotope Scaling
Ian M. Mitchell, Jacob Budzis, Andriy Bolyachevets
Scalable safety verification of continuous state dynamic systems has been demonstrated through both reachability and viability analyses using parametric set representations; howeve…
Reducing Conservatism in Model-Invariant Safety-Preserving Control of Propofol Anesthesia Using Falsification
Mahdi Yousefi, Klaske van Heusden, Ian M. Mitchell +2
This work provides a formalized model-invariant safety system for closed-loop anesthesia that uses feedback from measured data for model falsification to reduce conservatism. The s…
Autonomous Mobile Robot Navigation in Uneven and Unstructured Indoor Environments
Chaoqun Wang, Lili Meng, Sizhen She +6
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environment…
Learning Motion Predictors for Smart Wheelchair using Autoregressive Sparse Gaussian Process
Zicong Fan, Lili Meng, Tian Qi Chen +2
Constructing a smart wheelchair on a commercially available powered wheelchair (PWC) platform avoids a host of seating, mechanical design and reliability issues but requires method…
Scalable Safety-Preserving Robust Control Synthesis for Continuous-Time Linear Systems
Shahab Kaynama, Ian M. Mitchell, Meeko Oishi +1
We present a scalable set-valued safety-preserving controller for constrained continuous-time linear time-invariant (LTI) systems subject to additive, unknown but bounded disturban…
Best Practices for Scientific Computing
Greg Wilson, D. A. Aruliah, C. Titus Brown +10
Scientists spend an increasing amount of time building and using software. However, most scientists are never taught how to do this efficiently. As a result, many are unaware of to…