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02/14/2023
ℒ_1Quad: ℒ_1 Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
Quadrotors that can operate safely in the presence of imperfect model kn...
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12/15/2021
Guaranteed Contraction Control in the Presence of Imperfectly Learned Dynamics
This paper presents an approach for trajectory-centric learning control ...
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03/12/2021
Safe Sampling-Based Air-Ground Rendezvous Algorithm for Complex Urban Environments
Demand for fast and economical parcel deliveries in urban environments h...
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02/18/2021
Distributed Algorithms for Linearly-Solvable Optimal Control in Networked Multi-Agent Systems
Distributed algorithms for both discrete-time and continuous-time linear...
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09/30/2020
Cooperative Path Integral Control for Stochastic Multi-Agent Systems
A distributed stochastic optimal control solution is presented for coope...
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09/28/2020
Compositionality of Linearly Solvable Optimal Control in Networked Multi-Agent Systems
In this paper, we discuss the methodology of generalizing the optimal co...
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09/08/2020
ℛℒ_1-𝒢𝒫: Safe Simultaneous Learning and Control
We present ℛℒ_1-𝒢𝒫, a control framework that enables safe simultaneous l...
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04/02/2020
Safe Feedback Motion Planning: A Contraction Theory and L_1-Adaptive Control Based Approach
Autonomous robots that are capable of operating safely in the presence o...
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02/05/2020
Learning Probabilistic Intersection Traffic Models for Trajectory Prediction
Autonomous agents must be able to safely interact with other vehicles to...
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12/13/2018