Convex Hulls of Reachable Sets
Published:
Project Page / Paper / Code - We study the structure of convex hulls of reachable sets of nonlinear systems (dx/dt=f(x)+g(x)w).
Posts by Collection
preprints
First, Learn What You Don’t Know: Active Information Gathering for Driving at the Limits of Handling
Published:
Project Page / Paper - Unstable systems are difficult to simultaneously learn and control.
Risk-Averse Model Predictive Control for Racing in Adverse Conditions
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Project Page / Paper - A risk-averse controller that can reason over uncertainty.
publications
Trajectory optimization on manifolds: A theoretically-guaranteed embedded sequential convex programming approach
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Project Page / Paper / Code - A new SCP trajectory optimization algorithm on manifolds.
Investigation of specific wheel-terrain interaction aspects using an advanced single wheel test facility
Published:
Project Page / Paper - We identify limitations of wheel-soil interaction models and present a new method.
Chance-Constrained Optimal Altitude Control of a Rocket
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Project Page / Paper / Launch Video / ARIS website - We propose a control algorithm for a rocket to accurately reach a target apogee.
Contact Inertial Odometry: Collisions are your Friends
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Project Page / Paper / Video - How can a drone fly blindly, when all its exteroceptive sensors have failed?
Learning-based warm-starting for fast sequential convex programming and trajectory optimization
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Project Page / Paper / Code - A learning-based strategy to warm-start trajectory optimization tools.
Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization
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Project Page / Paper / Code - We propose an algorithm for chance-constrained trajectory optimization.
Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling
Published:
Project Page / Paper / Video / Code - New efficient sampling-based reachability analysis algorithms.
Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC
Published:
Project Page / Paper - We propose a CBF formulation that accounts for delays.
Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge
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Project Page / Paper / CoSTAR-NeBula website - We present the algorithms, hardware, and software architecture deployed by the team CoSTAR in the DARPA SubT Challenge.
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework
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Project Page / Paper / Video / More Hardware Results - How can robots safely learn their dynamics?
Analysis of theoretical and numerical properties of sequential convex programming for continuous-time optimal control
Published:
Project Page / Paper / Code - We analyze general SCP procedures for continuous-time optimal control.
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings
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Project Page / Paper / Code - We present a data-driven algorithm for efficiently computing stochastic control policies for general joint chance constrained optimal control problems.
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis
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Project Page / Paper / Code / Video - We analyze a sampling-based reachability analysis algorithm.
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
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Project Page / Paper / Code - A robust sampling-based motion planning algorithm.
Convex Optimization for Trajectory Generation: A Tutorial on Generating Dynamically Feasible Trajectories Reliably and Efficiently
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Project Page / Paper / Code - A comprehensive tutorial on convex trajectory optimization.
Sequential convex programming for non-linear stochastic optimal control
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Project Page / Paper / Code - We propose a sequential convex programming framework for non-linear finite-dimensional stochastic optimal control.
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
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Project Page / Paper / Blog Post / Video - We propose an effective strategy for table wiping combining the strengths of reinforcement learning and whole-body trajectory optimization.
Risk-Averse Trajectory Optimization via Sample Average Approximation
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Project Page / Paper / Code - A sample-based approach to risk-averse trajectory optimization.
Exact Characterization of the Convex Hulls of Reachable Sets
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Project Page / Paper / Presentation / Code - We give a finite-dimensional characterization of the convex hulls of reachable sets of nonlinear systems (dx/dt=f(x)+w).
Sample Average Approximation for Stochastic Programming with Equality Constraints
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Project Page / Paper / Code - We revisit the sample average approximation (SAA) approach for general non-convex stochastic programming and apply the method to stochastic optimal control problems.
Estimating the Convex Hull of the Image of a Set with Smooth Boundary: Error Bounds and Applications
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Project Page / Paper / Code - We study the problem of estimating the convex hull of the image of a compact set with smooth boundary.
One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits
Published:
Project Page / Paper - A multimodal diffusion-based vehicle model for MPC.