Search Results for author:
Found 15 papers, 6 papers with code
A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences
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.
Robotics
Autonomous Visual Rendering using Physical Motion
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.
Robotics
Surrogate Lagrangians for Variational Integrators: High Order Convergence with Low Order Schemes
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
Structured Neural Network Dynamics for Model-based Control
We present a structured neural network architecture that is inspired by linear time-varying dynamical systems.
Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics
We present a novel approach to shared control of human-machine systems.
Highly Parallelized Data-driven MPC for Minimal Intervention Shared Control
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.
Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees
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).
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems
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.
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation
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.
Generalized Proximal Methods for Pose Graph Optimization
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
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
We propose a novel sparse constrained formulation and from it derive a real-time optimization method for 3D human pose and shape estimation.
Scale-Invariant Fast Functional Registration
Functional registration algorithms represent point clouds as functions (e. g. spacial occupancy field) avoiding unreliable correspondence estimation in conventional least-squares registration algorithms.
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
In this paper, we present a fully decentralized method that alleviates computation and communication bottlenecks to solve arbitrarily large bundle adjustment problems.
Mixed-Strategy Nash Equilibrium for Crowd Navigation
Our framework consistently outperforms both non-learning and learning-based methods on both safety and navigation efficiency and reaches human-level crowd navigation performance on top of a meta-planner.
Fast Ergodic Search with Kernel Functions
However, current methods typically have exponential computation complexity in the search space dimension and are restricted to Euclidean space.
