Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data

no code implementations • 12 Dec 2022 • Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames

Recent advances in safety-critical risk-aware control are predicated on apriori knowledge of the disturbances a system might face.

Nonlinear Controllability Assessment of Aerial Manipulator Systems using Lagrangian Reduction

no code implementations • 15 Aug 2021 • Skylar X. Wei, Matthew R. Burkhardt, Joel Burdick

This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots.