Zobrazeno 1 - 10
of 12
pro vyhledávání: '"Jeremy H. Gillula"'
Autor:
Jaime F. Fisac, Anayo K. Akametalu, Melanie N. Zeilinger, Jeremy H. Gillula, Shahab Kaynama, Claire J. Tomlin
Publikováno v:
IEEE Transactions on Automatic Control. 64:2737-2752
The proven efficacy of learning-based control schemes strongly motivates their application to robotic systems operating in the physical world. However, guaranteeing correct operation during the learning process is currently an unresolved issue, which
Publikováno v:
IEEE Robotics & Automation Magazine. 18:33-43
Robotics has provided the motivation and inspiration for many innovations in planning and control. From nonholonomic motion planning [1] to probabilistic road maps [2], from capture basins [3] to preimages [4] of obstacles to avoid, and from geometri
Publikováno v:
The International Journal of Robotics Research. 30:335-354
The control of complex non-linear systems can be aided by modeling each system as a collection of simplified hybrid modes, with each mode representing a particular operating regime defined by the system dynamics or by a region of the state space in w
Autor:
J. Leibs, Jeremy H. Gillula
Publikováno v:
IEEE Control Systems. 26:19-26
This paper describes how a team of undergraduate volunteers from California Institute of Technology (Caltech) developed a robotic vehicle that can navigate completely autonomously through the Mojave Desert. Called Alice, the vehicle was Caltech's ent
Autor:
Laura Lindzey, Richard M. Murray, Jeremy H. Gillula, Alexander D. Stewart, Jeremy Leibs, Christopher Rasmussen, Tully Foote, Lars B. Cremean, Jeffrey C. Lamb, Dmitriy Kogan, Kristopher L. Kriechbaum, George H. Hines, Joel W. Burdick
Publikováno v:
Journal of Field Robotics. 23:777-810
This paper describes the implementation and testing of Alice, the California Institute of Technology’s entry in the 2005 DARPA Grand Challenge. Alice utilizes a highly networked control system architecture to provide high performance, autonomous dr
Autor:
Jeremy H. Gillula, Melanie N. Zeilinger, Claire J. Tomlin, Anayo K. Akametalu, Shahab Kaynama, Jaime F. Fisac
Publikováno v:
CDC
Reinforcement learning for robotic applications faces the challenge of constraint satisfaction, which currently impedes its application to safety critical systems. Recent approaches successfully introduce safety based on reachability analysis, determ
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::31699a30dbbb59efddfef3ec4cb31e87
https://zenodo.org/record/1265878
https://zenodo.org/record/1265878
Publikováno v:
HSCC
Proving that systems satisfy hard input and state constraints is frequently desirable when designing cyber-physical systems. One method for doing so is to compute the viability kernel, the subset of the state space for which a control signal exists t
Autor:
Jeremy H. Gillula, Claire J. Tomlin
Publikováno v:
ICRA
While machine learning techniques have become popular tools in the design of autonomous systems, the asymptotic nature of their performance guarantees means that they should not be used in scenarios in which safety and robustness are critical for suc
Autor:
Patrick Bouffard, Jeremy H. Gillula, Michael P. Vitus, Haomiao Huang, Anil Aswani, Jerry Ding, Claire J. Tomlin
Publikováno v:
HSCC
This talk will present reachability analysis as a tool for model checking and controller synthesis for dynamic systems. We will consider the problem of guaranteeing reachability to a given desired subset of the state space while satisfying a safety p
Publikováno v:
Springer Tracts in Advanced Robotics ISBN: 9783642194566
ISRR
ISRR
Decomposing complex, highly nonlinear systems into aggregates of simpler hybrid modes has proven to be a very successful way of designing and controlling autonomous vehicles. Examples include the use of motion primitives for robotic motion planning a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::20601ca02ed882eb68119065a18aea7f
https://doi.org/10.1007/978-3-642-19457-3_9
https://doi.org/10.1007/978-3-642-19457-3_9