Zobrazeno 1 - 10
of 5 021
pro vyhledávání: '"Burdick, P. A."'
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presence of delay is to employ control barrier functions (CBFs), and extensio
Externí odkaz:
http://arxiv.org/abs/2411.17277
We propose a novel zero-order control barrier function (ZOCBF) for sampled-data systems to ensure system safety. Our formulation generalizes conventional control barrier functions and straightforwardly handles safety constraints with high-relative de
Externí odkaz:
http://arxiv.org/abs/2411.17079
Since the COVID-19 pandemic, clinicians have seen a large and sustained influx in patient portal messages, significantly contributing to clinician burnout. To the best of our knowledge, there are no large-scale public patient portal messages corpora
Externí odkaz:
http://arxiv.org/abs/2411.06549
Autor:
Kurtz, Vince, Burdick, Joel W.
The recent success of diffusion-based generative models in image and natural language processing has ignited interest in diffusion-based trajectory optimization for nonlinear control systems. Existing methods cannot, however, handle the nonlinear equ
Externí odkaz:
http://arxiv.org/abs/2410.01939
This paper develops a Bayesian optimal experimental design for robot kinematic calibration on ${\mathbb{S}^3 \!\times\! \mathbb{R}^3}$. Our method builds upon a Gaussian process approach that incorporates a geometry-aware kernel based on Riemannian M
Externí odkaz:
http://arxiv.org/abs/2409.10802
Autor:
Kurtz, Vince, Burdick, Joel W.
Supervised machine learning is powerful. In recent years, it has enabled massive breakthroughs in computer vision and natural language processing. But leveraging these advances for optimal control has proved difficult. Data is a key limiting factor.
Externí odkaz:
http://arxiv.org/abs/2409.05792
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited range sens
Externí odkaz:
http://arxiv.org/abs/2405.15100
Autor:
Akella, Prithvi, Dixit, Anushri, Ahmadi, Mohamadreza, Lindemann, Lars, Chapman, Margaret P., Pappas, George J., Ames, Aaron D., Burdick, Joel W.
The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need for safety, e.g., for self-driving vehicles, mobile service robots, and
Externí odkaz:
http://arxiv.org/abs/2403.18972
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the lens of CBFs
Externí odkaz:
http://arxiv.org/abs/2403.08916
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties. The foundat
Externí odkaz:
http://arxiv.org/abs/2403.03215