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pro vyhledávání: '"Joel, W."'
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
Autor:
Hasler, Samantha N., Mayorga, L. C., Grundy, William M., Simon, Amy A., Benecchi, Susan D., Howett, Carly J. A., Protopapa, Silvia, Hammel, Heidi B., Wenkert, Daniel D., Stern, S. Alan, Singer, Kelsi N., Porter, Simon B., Brandt, Pontus C., Parker, Joel W., Verbiscer, Anne J., Spencer, John R., Team, the New Horizons Planetary Science Theme
We present flux measurements of Uranus observed at phase angles of 43.9{\deg}, 44.0{\deg}, and 52.4{\deg} by the Multispectral Visible Imaging Camera (MVIC) on the New Horizons spacecraft during 2023, 2010, and 2019, respectively. New Horizons imaged
Externí odkaz:
http://arxiv.org/abs/2411.04167
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
Autor:
Postman, Marc, Lauer, Tod R., Parker, Joel W., Spencer, John R., Weaver, Harold A., Shull, J. Michael, Stern, S. Alan, Brandt, Pontus, Conard, Steven J., Gladstone, G. Randall, Lisse, Carey M., Porter, Simon D., Singer, Kelsi N., Verbiscer, Anne J.
We obtained New Horizons LORRI images to measure the cosmic optical background (COB) intensity integrated over $0.4\lesssim\lambda\lesssim0.9{~\rm\mu m}.$ The survey comprises 16 high Galactic-latitude fields selected to minimize scattered diffuse Ga
Externí odkaz:
http://arxiv.org/abs/2407.06273
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