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06/01/2023
Efficient Deep Learning of Robust Policies from MPC using Imitation and Tube-Guided Data Augmentation
Imitation Learning (IL) has been increasingly employed to generate compu...
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03/28/2023
Efficient Deep Learning of Robust, Adaptive Policies using Tube MPC-Guided Data Augmentation
The deployment of agile autonomous systems in challenging, unstructured ...
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10/18/2022
Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning
Imitation learning (IL) can generate computationally efficient sensorimo...
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09/20/2022
Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC
Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles...
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09/21/2021
Demonstration-Efficient Guided Policy Search via Imitation of Robust Tube MPC
We propose a demonstration-efficient strategy to compress a computationa...
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08/09/2021
Model-free online motion adaptation for energy efficient flights of multicopters
Limited flight distance and time is a common problem for multicopters. W...
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05/27/2021
Airflow-Inertial Odometry for Resilient State Estimation on Multirotors
We present a dead reckoning strategy for increased resilience to positio...
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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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02/05/2021
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
State estimation for robots navigating in GPS-denied and perceptually-de...
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03/16/2020
The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
In this report for the Nasa NIAC Phase I study, we present a mission arc...
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03/04/2020
Touch the Wind: Simultaneous Airflow, Drag and Interaction Sensing on a Multirotor
Disturbance estimation for Micro Aerial Vehicles (MAVs) is crucial for r...
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02/03/2020
Shapeshifter: A Multi-Agent, Multi-Modal Robotic Platform for Exploration of Titan
In this paper we present a mission architecture and a robotic platform, ...
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11/23/2017