61 citations · 184 across the 45 of their papers we have counts for
12 papers · 1 filter
Model Predictive Path-Following for Constrained Differentially Flat Systems
Melissa Greeff, Angela P. Schoellig
For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It doe…
Learning of Coordination Policies for Robotic Swarms
Qiyang Li, Xintong Du, Yizhou Huang +2
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelli…
Data-Efficient Multirobot, Multitask Transfer Learning for Trajectory Tracking
Karime Pereida, Mohamed K. Helwa, Angela P. Schoellig
Transfer learning has the potential to reduce the burden of data collection and to decrease the unavoidable risks of the training phase. In this letter, we introduce a multirobot,…
An Inversion-Based Learning Approach for Improving Impromptu Trajectory Tracking of Robots with Non-Minimum Phase Dynamics
Siqi Zhou, Mohamed K. Helwa, Angela P. Schoellig
This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedfor…
Aerial Rock Fragmentation Analysis in Low-Light Condition Using UAV Technology
Thomas Bamford, Kamran Esmaeili, Angela P. Schoellig
In recent years, Unmanned Aerial Vehicle (UAV) technology has been introduced into the mining industry to conduct terrain surveying. This work investigates the application of UAVs…
Multi-Robot Transfer Learning: A Dynamical System Perspective
Mohamed K. Helwa, Angela P. Schoellig
Multi-robot transfer learning allows a robot to use data generated by a second, similar robot to improve its own behavior. The potential advantages are reducing the time of trainin…