319 citations · 1.6k across the 72 of their papers we have counts for
8 papers · 1 filter
Safe and Robust Robot Maneuvers Based on Reach Control
Marijan Vukosavljev, Ivo Jansen, Mireille E. Broucke +1
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level con…
On the Construction of Safe Controllable Regions for Affine Systems with Applications to Robotics
Mohamed K. Helwa, Angela P. Schoellig
This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of aff…
Deep Neural Networks for Improved, Impromptu Trajectory Tracking of Quadrotors
Qiyang Li, Jingxing Qian, Zining Zhu +3
Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers,…
A real-time analysis of rock fragmentation using UAV technology
Thomas Bamford, Kamran Esmaeili, Angela P. Schoellig
Accurate measurement of blast-induced rock fragmentation is of great importance for many mining operations. The post-blast rock size distribution can significantly influence the ef…
Distributed Iterative Learning Control for a Team of Quadrotors
Andreas Hock, Angela P. Schoellig
The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distribute…
Safe Learning of Regions of Attraction for Uncertain, Nonlinear Systems with Gaussian Processes
Felix Berkenkamp, Riccardo Moriconi, Angela P. Schoellig +1
Control theory can provide useful insights into the properties of controlled, dynamic systems. One important property of nonlinear systems is the region of attraction (ROA), a safe…
Unscented External Force and Torque Estimation for Quadrotors
Christopher D. McKinnon, Angela P. Schoellig
In this paper, we describe an algorithm, based on the well-known Unscented Quaternion Estimator, to estimate external forces and torques acting on a quadrotor. This formulation use…
Bayesian Optimization with Safety Constraints: Safe and Automatic Parameter Tuning in Robotics
Felix Berkenkamp, Andreas Krause, Angela P. Schoellig
Robotic algorithms typically depend on various parameters, the choice of which significantly affects the robot's performance. While an initial guess for the parameters may be obtai…