Zobrazeno 1 - 7
of 7
pro vyhledávání: '"Brian Goldfain"'
Publikováno v:
IEEE Robotics and Automation Letters. 4:1564-1571
In this letter, we present a framework for combining deep learning-based road detection, particle filters, and model predictive control (MPC) to drive aggressively using only a monocular camera, IMU, and wheel speed sensors. This framework uses deep
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6b4584a9222b47dd0f4edf582a730c72
https://doi.org/10.1109/lra.2019.2896449
https://doi.org/10.1109/lra.2019.2896449
Publikováno v:
IEEE Transactions on Robotics. 34:1603-1622
We present an information-theoretic approach to stochastic optimal control problems that can be used to derive general sampling-based optimization schemes. This new mathematical method is used to develop a sampling-based model predictive control algo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9b80d873e60f01a1b57dcfee396d58b5
https://doi.org/10.1109/tro.2018.2865891
https://doi.org/10.1109/tro.2018.2865891
Autor:
Evangelos A. Theodorou, Paul Drews, Grady Williams, James M. Rehg, Brian Goldfain, Kamil Saigol
Publikováno v:
Robotics: Science and Systems
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b144f73d1ecf36e7f099b20ff9c096f2
https://doi.org/10.15607/rss.2018.xiv.042
https://doi.org/10.15607/rss.2018.xiv.042
Autor:
Matthew Barulic, Brian Goldfain, Paul Drews, Changxi You, Panagiotis Tsiotras, James M. Rehg, Orlin Velev
This article presents AutoRally, a 1$:$5 scale robotics testbed for autonomous vehicle research. AutoRally is designed for robustness, ease of use, and reproducibility, so that a team of two people with limited knowledge of mechanical engineering, el
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a0a1c27d843d6bc62f0decb8b6acf966
http://arxiv.org/abs/1806.00678
http://arxiv.org/abs/1806.00678
Publikováno v:
ICRA
We introduce an algorithm for autonomous control of multiple fast ground vehicles operating in close proximity to each other. The algorithm is based on a combination of the game theoretic notion of iterated best response, and an information theoretic
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::63dc14a15a6165da34f412966cddd8c9
https://doi.org/10.1109/icra.2018.8462831
https://doi.org/10.1109/icra.2018.8462831
Autor:
Nolan Wagener, James M. Rehg, Byron Boots, Brian Goldfain, Paul Drews, Grady Williams, Evangelos A. Theodorou
Publikováno v:
ICRA
We introduce an information theoretic model predictive control (MPC) algorithm capable of handling complex cost criteria and general nonlinear dynamics. The generality of the approach makes it possible to use multi-layer neural networks as dynamics m
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9545b9b25ede6d66cd296d463b0e0c8f
https://doi.org/10.1109/icra.2017.7989202
https://doi.org/10.1109/icra.2017.7989202
Publikováno v:
ICRA
In this paper we present a model predictive control algorithm designed for optimizing non-linear systems subject to complex cost criteria. The algorithm is based on a stochastic optimal control framework using a fundamental relationship between the i
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a2bb1ea82fc9c48119513ac778be7176
https://doi.org/10.1109/icra.2016.7487277
https://doi.org/10.1109/icra.2016.7487277