78 citations · 309 across the 22 of their papers we have counts for
6 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…
Adaptive Complexity Model Predictive Control
Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang +1
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and…
Environmental Sampling with the Boustrophedon Decomposition Algorithm
Hannah He, Joe Norby, Sean Wang +4
The automation of data collection via mobile robots holds promise for increasing the efficacy of environmental investigations, but requires the system to autonomously determine how…
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots
Nathan J. Kong, Chuanzheng Li, Aaron M. Johnson
Model Predictive Control (MPC) is a popular strategy for controlling robots but is difficult for systems with contact due to the complex nature of hybrid dynamics. To implement MPC…
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…
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards
J. Joe Payne, Nathan J. Kong, Aaron M. Johnson
In this paper we present a method for updating robotic state belief through contact with uncertain surfaces and apply this update to a Kalman filter for more accurate state estimat…