85 citations · 281 across the 21 of their papers we have counts for
3 papers · 1 filter
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…
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…