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03/23/2023
Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces
Driving under varying road conditions is challenging, especially for aut...
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02/20/2023
Solving Recurrent MIPs with Semi-supervised Graph Neural Networks
We propose an ML-based model that automates and expedites the solution o...
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03/09/2022
MLNav: Learning to Safely Navigate on Martian Terrains
We present MLNav, a learning-enhanced path planning framework for safety...
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02/14/2022
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
The rising popularity of self-driving cars has led to the emergence of a...
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12/14/2021
CEM-GD: Cross-Entropy Method with Gradient Descent Planner for Model-Based Reinforcement Learning
Current state-of-the-art model-based reinforcement learning algorithms u...
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10/03/2021
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
This paper considers centralized mission-planning for a heterogeneous mu...
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09/10/2021
Interactive multi-modal motion planning with Branch Model Predictive Control
Motion planning for autonomous robots and vehicles in presence of uncont...
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09/09/2021
Risk-Averse Decision Making Under Uncertainty
A large class of decision making under uncertainty problems can be descr...
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03/08/2021
Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach
We present a straightforward and efficient way to estimate dynamics mode...
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12/04/2020
Constrained Risk-Averse Markov Decision Processes
We consider the problem of designing policies for Markov decision proces...
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11/19/2020
Decentralized Task and Path Planning for Multi-Robot Systems
We consider a multi-robot system with a team of collaborative robots and...
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11/06/2020
Reactive motion planning with probabilistics safety guarantees
Motion planning in environments with multiple agents is critical to many...
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04/06/2020
Control of Unknown Nonlinear Systems with Linear Time-Varying MPC
We present a Model Predictive Control (MPC) strategy for unknown input-a...
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04/02/2020
Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control
We present a decentralized trajectory optimization scheme based on learn...
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03/03/2020
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions
Sample-based learning model predictive control (LMPC) strategies have re...
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05/31/2019
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations
Reinforcement learning (RL) for robotics is challenging due to the diffi...
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02/25/2017