8 citations · 14 across the 4 of their papers we have counts for
7 papers · 1 filter
Reacting to Contact: Transparency and Collision Reflex in Actuation
Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson
In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparenc…
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models
Samuel Triest, Matthew Sivaprakasam, Sean J. Wang +3
We present TartanDrive, a large scale dataset for learning dynamics models for off-road driving. We collected a dataset of roughly 200,000 off-road driving interactions on a modifi…
iLQR for Piecewise-Smooth Hybrid Dynamical Systems
Nathan J. Kong, George Council, Aaron M. Johnson
Trajectory optimization is a popular strategy for planning trajectories for robotic systems. However, many robotic tasks require changing contact conditions, which is difficult due…
The Salted Kalman Filter: Kalman Filtering on Hybrid Dynamical Systems
Nathan J. Kong, J. Joe Payne, George Council +1
Many state estimation and control algorithms require knowledge of how probability distributions propagate through dynamical systems. However, despite hybrid dynamical systems becom…
Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand
Wooshik Kim, Catherine Pavlov, Aaron M. Johnson
Autonomy for robots interacting with sand will enable a wide range of beneficial behaviors, from earth moving for construction and farming vehicles to navigating rough terrain for…
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
Amir Patel, Stacey Shield, Saif Kazi +2
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, m…