319 citations · 1.6k across the 72 of their papers we have counts for
80 papers
Multi-Step Model Predictive Safety Filters: Reducing Chattering by Increasing the Prediction Horizon
Federico Pizarro Bejarano, Lukas Brunke, Angela P. Schoellig
Learning-based controllers have demonstrated superior performance compared to classical controllers in various tasks. However, providing safety guarantees is not trivial. Safety, t…
Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors
Ziwei Liao, Jun Yang, Jingxing Qian +2
3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a fr…
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot +1
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed…
What is the Impact of Releasing Code with Publications? Statistics from the Machine Learning, Robotics, and Control Communities
Siqi Zhou, Lukas Brunke, Allen Tao +4
Open-sourcing research publications is a key enabler for the reproducibility of studies and the collective scientific progress of a research community. As all fields of science dev…
Uncertainty-aware Gaussian Mixture Model for UWB Time Difference of Arrival Localization in Cluttered Environments
Wenda Zhao, Abhishek Goudar, Mingliang Tang +2
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the…
Does Unpredictability Influence Driving Behavior?
Sepehr Samavi, Florian Shkurti, Angela P. Schoellig
In this paper we investigate the effect of the unpredictability of surrounding cars on an ego-car performing a driving maneuver. We use Maximum Entropy Inverse Reinforcement Learni…
Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter
Adam W. Hall, Melissa Greeff, Angela P. Schoellig
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear appro…
POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments
Jingxing Qian, Veronica Chatrath, James Servos +4
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps…
Robust Single-Point Pushing with Force Feedback
Adam Heins, Angela P. Schoellig
We present the first controller for quasistatic robotic planar pushing with single-point contact using only force feedback. We consider a mobile robot equipped with a force-torque…
Continuous-Time Range-Only Pose Estimation
Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurement…
Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator
Adam Heins, Angela P. Schoellig
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and m…
Multi-View Keypoints for Reliable 6D Object Pose Estimation
Alan Li, Angela P. Schoellig
6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, wh…
AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments
Vivek K. Adajania, Siqi Zhou, Arun Kumar Singh +1
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean dis…
Robust Predictive Output-Feedback Safety Filter for Uncertain Nonlinear Control Systems
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
In real-world applications, we often require reliable decision making under dynamics uncertainties using noisy high-dimensional sensory data. Recently, we have seen an increasing n…
Perception-aware Tag Placement Planning for Robust Localization of UAVs in Indoor Construction Environments
Navid Kayhani, Angela Schoellig, Brenda McCabe
Tag-based visual-inertial localization is a lightweight method for enabling autonomous data collection missions of low-cost unmanned aerial vehicles (UAVs) in indoor construction e…
Characterising the Robustness of Reinforcement Learning for Continuous Control using Disturbance Injection
Catherine R. Glossop, Jacopo Panerati, Amrit Krishnan +2
In this study, we leverage the deliberate and systematic fault-injection capabilities of an open-source benchmark suite to perform a series of experiments on state-of-the-art deep…
Stochastic Modeling of Tag Installation Error for Robust On-Manifold Tag-Based Visual-Inertial Localization
Navid Kayhani, Brenda McCabe, Angela P. Schoellig
Autonomous mobile robots, including unmanned aerial vehicles (UAVs), have received significant attention for their applications in construction. These platforms have great potentia…
POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes
Jingxing Qian, Veronica Chatrath, Jun Yang +3
Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environm…
Finding the Right Place: Sensor Placement for UWB Time Difference of Arrival Localization in Cluttered Indoor Environments
Wenda Zhao, Abhishek Goudar, Angela P. Schoellig
Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has recently emerged as a promising indoor positioning solution. However, in cluttered environments, both…
Barrier Bayesian Linear Regression: Online Learning of Control Barrier Conditions for Safety-Critical Control of Uncertain Systems
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
In this work, we consider the problem of designing a safety filter for a nonlinear uncertain control system. Our goal is to augment an arbitrary controller with a safety filter suc…
UTIL: An Ultra-wideband Time-difference-of-arrival Indoor Localization Dataset
Wenda Zhao, Abhishek Goudar, Xinyuan Qiao +1
Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suite…
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
Keenan Burnett, Yuchen Wu, David J. Yoon +2
We present an extensive comparison between three topometric localization systems: radar-only, lidar-only, and a cross-modal radar-to-lidar system across varying seasonal and weathe…
Boreas: A Multi-Season Autonomous Driving Dataset
Keenan Burnett, David J. Yoon, Yuchen Wu +9
The Boreas dataset was collected by driving a repeated route over the course of one year, resulting in stark seasonal variations and adverse weather conditions such as rain and fal…
Bridging the Model-Reality Gap with Lipschitz Network Adaptation
Siqi Zhou, Karime Pereida, Wenda Zhao +1
As robots venture into the real world, they are subject to unmodeled dynamics and disturbances. Traditional model-based control approaches have been proven successful in relatively…