no code implementations • 3 May 2016 • Shayegan Omidshafiei, Brett T. Lopez, Jonathan P. How, John Vian
This paper presents an approach for filtering sequences of object classification probabilities using online modeling of the noise characteristics of the classifier outputs.
2 code implementations • 2 Oct 2018 • Jesus Tordesillas, Brett T. Lopez, John Carter, John Ware, Jonathan P. How
However, in unknown environments, this approach can lead to erratic or unstable behavior due to the interaction between the global planner, whose solution is changing constantly, and the local planner; a consequence of not capturing higher-order dynamics in the global plan.
Robotics
3 code implementations • 8 Mar 2019 • Jesus Tordesillas, Brett T. Lopez, Jonathan P. How
The desire of maintaining computational tractability typically leads to optimization problems that do not include the obstacles (collision checks are done on the solutions) or to formulations that use a convex decomposition of the free space and then impose an ad hoc allocation of each interval of the trajectory in a specific polyhedron.
Robotics
2 code implementations • 9 Jan 2020 • Jesus Tordesillas, Brett T. Lopez, Michael Everett, Jonathan P. How
The standard approaches that ensure safety by enforcing a "stop" condition in the free-known space can severely limit the speed of the vehicle, especially in situations where much of the world is unknown.
no code implementations • 2 Nov 2020 • Kenny Chen, Alexandra Pogue, Brett T. Lopez, Ali-akbar Agha-mohammadi, Ankur Mehta
Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still plague these systems.
no code implementations • 31 Dec 2020 • Brett T. Lopez, Jean-Jacques E. Slotine
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties.
no code implementations • 6 Apr 2021 • Brett T. Lopez, Jean-Jacques E. Slotine
The stable combination of optimal feedback policies with online learning is studied in a new control-theoretic framework for uncertain nonlinear systems.
no code implementations • 28 Jul 2022 • Brett T. Lopez, Jean-Jacques Slotine
This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties.
no code implementations • 20 Oct 2023 • Samuel G. Gessow, Brett T. Lopez
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online.
no code implementations • 9 Nov 2023 • Brett T. Lopez, Jean-Jacques Slotine
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties.