Search Results for author: Todd Murphey

Found 11 papers, 4 papers with code

Generalized Proximal Methods for Pose Graph Optimization

no code implementations4 Dec 2020 Taosha Fan, Todd Murphey

In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Euclidean groups, and show that our proposed generalized proximal methods for PGO converge to first-order critical points.

Simultaneous Localization and Mapping Optimization and Control Robotics

CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation

1 code implementation25 Jun 2020 Taosha Fan, Hanlin Wang, Michael Rubenstein, Todd Murphey

In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks.

Simultaneous Localization and Mapping

Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems

1 code implementation12 Jun 2020 Alexander Broad, Ian Abraham, Todd Murphey, Brenna Argall

Overall, we find that model-based shared control significantly improves task and control metrics when compared to a natural learning, or user only, control paradigm.

online learning

Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees

no code implementations11 Mar 2020 Taosha Fan, Todd Murphey

In this paper, we consider the problem of distributed pose graph optimization (PGO) that has extensive applications in multi-robot simultaneous localization and mapping (SLAM).

Simultaneous Localization and Mapping

Highly Parallelized Data-driven MPC for Minimal Intervention Shared Control

1 code implementation5 Jun 2019 Alexander Broad, Todd Murphey, Brenna Argall

In this paradigm, the role of the autonomous partner is to improve the general safety of the system without constraining the user's ability to achieve unspecified behaviors.

Structured Neural Network Dynamics for Model-based Control

no code implementations3 Aug 2018 Alexander Broad, Ian Abraham, Todd Murphey, Brenna Argall

We present a structured neural network architecture that is inspired by linear time-varying dynamical systems.

Continuous Control

Surrogate Lagrangians for Variational Integrators: High Order Convergence with Low Order Schemes

no code implementations12 Sep 2017 Gerardo De La Torre, Todd Murphey

In this paper, we introduce a new class of variational integrators that achieve fourth-order convergence despite having the same integration scheme as traditional second-order variational integrators.

Numerical Analysis

Autonomous Visual Rendering using Physical Motion

no code implementations8 Sep 2017 Ahalya Prabhakar, Anastasia Mavrommati, Jarvis Schultz, Todd Murphey

This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools.


A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences

no code implementations7 Sep 2017 Vlad Seghete, Todd Murphey

This paper presents existence and uniqueness results for a propagative model of simultaneous impacts that is guaranteed to conserve energy and momentum in the case of elastic impacts with extensions to perfectly plastic and inelastic impacts.


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