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07/06/2023
Risk-Averse Trajectory Optimization via Sample Average Approximation
Trajectory optimization under uncertainty underpins a wide range of appl...
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03/30/2023
Exact Characterization of the Convex Hulls of Reachable Sets
We study the convex hulls of reachable sets of nonlinear systems with bo...
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02/27/2023
Estimating the Convex Hull of the Image of a Set with Smooth Boundary: Error Bounds and Applications
We study the problem of estimating the convex hull of the image f(X)⊂ℝ^n...
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12/28/2022
A System-Level View on Out-of-Distribution Data in Robotics
When testing conditions differ from those represented in training data, ...
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10/19/2022
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
We propose a framework to enable multipurpose assistive mobile robots to...
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06/20/2022
Sample Average Approximation for Stochastic Programming with Equality Constraints
We revisit the sample average approximation (SAA) approach for general n...
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05/16/2022
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
Robust motion planning entails computing a global motion plan that is sa...
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02/08/2022
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings
We present a data-driven algorithm for efficiently computing stochastic ...
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12/10/2021
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis
In this work, we analyze an efficient sampling-based algorithm for gener...
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11/11/2021
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation
We identify an issue in recent approaches to learning-based control that...
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06/16/2021
Convex Optimization for Trajectory Generation
Reliable and efficient trajectory generation methods are a fundamental n...
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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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09/10/2020
Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control
Through the years, Sequential Convex Programming (SCP) has gained great ...
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08/26/2020
Safe Model-Based Meta-Reinforcement Learning: A Sequential Exploration-Exploitation Framework
Safe deployment of autonomous robots in diverse environments requires ag...
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08/24/2020
Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling
Reachability analysis is at the core of many applications, from neural n...
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08/30/2019
Contact Inertial Odometry: Collisions are your Friend
Autonomous exploration of unknown environments with aerial vehicles rema...
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05/18/2019