319 citations · 1.6k across the 72 of their papers we have counts for
65 papers · 1 filter
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…
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…
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…
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…
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…
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…
Fly Out The Window: Exploiting Discrete-Time Flatness for Fast Vision-Based Multirotor Flight
Melissa Greeff, Siqi Zhou, Angela P. Schoellig
Current control design for fast vision-based flight tends to rely on high-rate, high-dimensional and perfect state estimation. This is challenging in real-world environments due to…
safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning in Robotics
Zhaocong Yuan, Adam W. Hall, Siqi Zhou +4
In recent years, both reinforcement learning and learning-based control -- as well as the study of their safety, which is crucial for deployment in real-world robots -- have gained…
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning
Lukas Brunke, Melissa Greeff, Adam W. Hall +4
The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learni…
Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization
Abhishek Goudar, Angela P. Schoellig
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning in environments where the Global Positioning System (GPS) servic…
Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning
Keenan Burnett, David J. Yoon, Angela P. Schoellig +1
This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature ne…