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07/31/2023
Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers
We present a method for image-guided exploration for mobile robotic syst...
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05/19/2023
Time Optimal Ergodic Search
Robots with the ability to balance time against the thoroughness of sear...
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12/06/2022
Scale-Invariant Specifications for Human-Swarm Systems
We present a method for controlling a swarm using its spectral decomposi...
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11/08/2022
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
In this paper, we address the problem of safe trajectory planning for au...
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09/26/2022
Scale-Invariant Fast Functional Registration
Functional registration algorithms represent point clouds as functions (...
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07/06/2022
A Local Optimization Framework for Multi-Objective Ergodic Search
Robots have the potential to perform search for a variety of application...
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12/23/2021
Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling
One of the preeminent obstacles to scaling multi-agent reinforcement lea...
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10/22/2020
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion
We present a sim-to-real framework that uses dynamics and domain randomi...
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06/12/2020
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems
We present a data-driven shared control algorithm that can be used to im...
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06/10/2020
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
This paper presents a formulation for swarm control and high-level task ...
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06/05/2020
Hybrid Control for Learning Motor Skills
We develop a hybrid control approach for robot learning based on combini...
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06/05/2020
An Ergodic Measure for Active Learning From Equilibrium
This paper develops KL-Ergodic Exploration from Equilibrium (KL-E^3), a ...
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06/04/2020
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
This work addresses the problem of robot interaction in complex environm...
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05/08/2020
Learning Data-Driven Stable Koopman Operators
In this paper, we consider the problem of improving the long-term accura...
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06/12/2019
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators
This paper presents an active learning strategy for robotic systems that...
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02/08/2019
Active Area Coverage from Equilibrium
This paper develops a method for robots to integrate stability into acti...
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08/03/2018
Structured Neural Network Dynamics for Model-based Control
We present a structured neural network architecture that is inspired by ...
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06/13/2018
Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multi-Agent Systems
We present a decentralized ergodic control policy for time-varying area ...
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05/31/2018