13 papers
Emergent Autonomous Drifting for Collision Avoidance in Real-World Winter Driving Scenarios
Elliot Weiss, Michael Thompson, Thomas Lew +1
Real-world collision avoidance is a core motivation for studying the dynamics and control of high sideslip drifting in vehicles, yet the practical benefit of such maneuvers has so…
3D Lane Detection with Odometry for High-Speed Vehicle Racing
Omoruyi Atekha, John Subosits, Marcus Greiff
The paper presents a new 3D lane detection dataset collected from high‑speed vehicle racing and proposes a fast, odometry‑enhanced multi‑camera ensemble method that runs near 300 H…
Generalized-CVO: Fast and Correspondence-Free Local Point Cloud Registration with Second Order Riemannian Optimization
Ray Zhang, Marcus Greiff, Thomas Lew +1
We propose a fast and correspondence-free local point cloud registration method that leverages geometric surface structure and reproducing kernel Hilbert space (RKHS) embeddings. T…
Boundary Sampling to Learn Predictive Safety Filters via Pontryagin's Maximum Principle
James Dallas, Thomas Lew, John Talbot +3
Safety filters provide a practical approach for enforcing safety constraints in autonomous systems. While learning-based tools scale to high-dimensional systems, their performance…
Solving Quadratic Programs with Slack Variables via ADMM without Increasing the Problem Size
Thomas Lew, Marcus Greiff, John Subosits +1
Proximal methods such as the Alternating Direction Method of Multipliers (ADMM) are effective at solving constrained quadratic programs (QPs). To tackle infeasible QPs, slack varia…
Vision-Conditioned Variational Bayesian Last Layer Dynamics Models
Paul Brunzema, Thomas Lew, Ray Zhang +3
Agile control of robotic systems often requires anticipating how the environment affects system behavior. For example, a driver must perceive the road ahead to anticipate available…