85 citations · 281 across the 21 of their papers we have counts for
3 papers · 1 filter
Model-Based Control Using Koopman Operators
Ian Abraham, Gerardo De La Torre, Todd D. Murphey
This paper explores the application of Koopman operator theory to the control of robotic systems. The operator is introduced as a method to generate data-driven models that have ut…
Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation
Ian Abraham, Ahalya Prabhakar, Mitra J. Z. Hartmann +1
Current methods to estimate object shape---using either vision or touch---generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successfu…
Real-Time Area Coverage and Target Localization using Receding-Horizon Ergodic Exploration
Anastasia Mavrommati, Emmanouil Tzorakoleftherakis, Ian Abraham +1
Although a number of solutions exist for the problems of coverage, search and target localization---commonly addressed separately---whether there exists a unified strategy that add…