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05/26/2023
Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments
In this paper, we address the trajectory planning problem in uncertain n...
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03/02/2023
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
We consider the motion planning problem for stochastic nonlinear systems...
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03/02/2023
Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems
In this paper, we consider the closed-loop control problem of nonlinear ...
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05/10/2022
KEMP: Keyframe-Based Hierarchical End-to-End Deep Model for Long-Term Trajectory Prediction
Predicting future trajectories of road agents is a critical task for aut...
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03/06/2022
Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments
We address the risk bounded trajectory optimization problem of stochasti...
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10/01/2021
Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification
In this paper, we address the real-time risk-bounded safety verification...
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06/10/2021
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments
In this paper, we address the trajectory planning problem in uncertain n...
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09/17/2019
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations
We propose a model-based approach to design feedback policies for dexter...
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09/16/2018
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures
We present a novel controller synthesis approach for discrete-time hybri...
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03/24/2018
Convex Optimization of Nonlinear State Feedback Controllers for Discrete-time Polynomial Systems via Occupation Measures
In this paper, we design nonlinear state feedback controllers for discre...
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03/21/2018