319 citations · 1.6k across the 72 of their papers we have counts for
10 papers · 1 filter
Building a Winning Self-Driving Car in Six Months
Keenan Burnett, Andreas Schimpe, Sepehr Samavi +5
The SAE AutoDrive Challenge is a three-year competition to develop a Level 4 autonomous vehicle by 2020. The first set of challenges were held in April of 2018 in Yuma, Arizona. Ou…
Learn Fast, Forget Slow: Safe Predictive Learning Control for Systems with Unknown and Changing Dynamics Performing Repetitive Tasks
Christopher D. McKinnon, Angela P. Schoellig
We present a control method for improved repetitive path following for a ground vehicle that is geared towards long-term operation where the operating conditions can change over ti…
Fast and In Sync: Periodic Swarm Patterns for Quadrotors
Xintong Du, Carlos E. Luis, Marijan Vukosavljev +1
This paper aims to design quadrotor swarm performances, where the swarm acts as an integrated, coordinated unit embodying moving and deforming objects. We divide the task of creati…
Estimation-Based Model Predictive Control for Automatic Crosswind Stabilization of Hybrid Aerial Vehicles
Mohamed K. Helwa, Adrian Esser, Angela P. Schoellig
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several ad…
There's No Place Like Home: Visual Teach and Repeat for Emergency Return of Multirotor UAVs During GPS Failure
Michael Warren, Melissa Greeff, Bhavit Patel +3
Redundant navigation systems are critical for safe operation of UAVs in high-risk environments. Since most commercial UAVs almost wholly rely on GPS, jamming, interference and mult…
Trajectory Generation for Multiagent Point-To-Point Transitions via Distributed Model Predictive Control
Carlos E. Luis, Angela P. Schoellig
This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and succe…
Adaptive Model Predictive Control for High-Accuracy Trajectory Tracking in Changing Conditions
Karime Pereida, Angela Schoellig
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametri…
Transfer Learning for High-Precision Trajectory Tracking Through Adaptive Feedback and Iterative Learning
Karime Pereida, Dave Kooijman, Rikky R. P. R. Duivenvoorden +1
Robust and adaptive control strategies are needed when robots or automated systems are introduced to unknown and dynamic environments where they are required to cope with disturban…
Provably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian Systems
Mohamed K. Helwa, Adam Heins, Angela P. Schoellig
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearizat…
Experience Recommendation for Long Term Safe Learning-based Model Predictive Control in Changing Operating Conditions
Christopher D. McKinnon, Angela P. Schoellig
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimag…