129 citations · 889 across the 54 of their papers we have counts for
6 papers · 1 filter
Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics
Alexander Broad, Todd Murphey, Brenna Argall
We present a novel approach to shared control of human-machine systems. Our method assumes no a priori knowledge of the system dynamics. Instead, we learn both the dynamics and inf…
Structured Neural Network Dynamics for Model-based Control
Alexander Broad, Ian Abraham, Todd Murphey +1
We present a structured neural network architecture that is inspired by linear time-varying dynamical systems. The network is designed to mimic the properties of linear dynamical s…
Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multi-Agent Systems
Ian Abraham, Todd D. Murphey
We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distribu…
Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance
Aleksandra Kalinowska, Kathleen Fitzsimons, Julius Dewald +1
We propose a novel criterion for evaluating user input for human-robot interfaces for known tasks. We use the mode insertion gradient (MIG)---a tool from hybrid control theory---as…
Data-Driven Measurement Models for Active Localization in Sparse Environments
Ian Abraham, Anastasia Mavrommati, Todd D. Murphey
We develop an algorithm to explore an environment to generate a measurement model for use in future localization tasks. Ergodic exploration with respect to the likelihood of a part…
Feedback Synthesis For Underactuated Systems Using Sequential Second-Order Needle Variations
Giorgos Mamakoukas, Malcolm A. MacIver, Todd D. Murphey
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the second-order needle variations of optimal control---as t…