Zobrazeno 1 - 9
of 9
pro vyhledávání: '"Wei, Skylar X."'
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
Autor:
Janwani, Neil C., Daş, Ersin, Touma, Thomas, Wei, Skylar X., Molnar, Tamas G., Burdick, Joel W.
Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup controllers to f
Externí odkaz:
http://arxiv.org/abs/2310.05865
This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-based control barrier functions (CBFs) are utilized to ensure robust safe
Externí odkaz:
http://arxiv.org/abs/2304.08538
Recent advances in safety-critical risk-aware control are predicated on apriori knowledge of the disturbances a system might face. This paper proposes a method to efficiently learn these disturbances online, in a risk-aware context. First, we introdu
Externí odkaz:
http://arxiv.org/abs/2212.06253
This paper proposes a new structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware model predictive control (MPC) scheme. Given noisy measurements of the a priori unknown obstacle tra
Externí odkaz:
http://arxiv.org/abs/2203.14913
This paper shows that the dynamics of a general class of aerial manipulators, consist of an underactuated multi-rotor base with an arbitrary k-linked articulated manipulator, are differentially flat. Methods of Lagrangian Reduction under broken symme
Externí odkaz:
http://arxiv.org/abs/2111.01302
Nonlinear dynamical effects are crucial to the operation of many agile robotic systems. Koopman-based model learning methods can capture these nonlinear dynamical system effects in higher dimensional lifted bilinear models that are amenable to optima
Externí odkaz:
http://arxiv.org/abs/2110.10341
This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots. We apply methods of Lagrangian reduction to obtain their lowest dimensional equations of motion (EOM). The symmetry-breaki
Externí odkaz:
http://arxiv.org/abs/2108.06644
Publikováno v:
IFAC-PapersOnLine; January 2021, Vol. 54 Issue: 19 p100-105, 6p
