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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Thomas Lew
About me
Posts
My first (placeholder) blog
Published:
Welcome to my blog! Nothing interesting for now, but will try to post some things from time to time!
preprints
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).
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
Published:
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
Published:
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
Published:
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
Published:
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
Published:
Project Page / Paper / Code - A learning-based strategy to warm-start trajectory optimization tools.
Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization
Published:
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
Published:
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
Published:
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
Published:
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
Published:
Project Page / Paper / Code / Video - We analyze a sampling-based reachability analysis algorithm.
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
Published:
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
Published:
Project Page / Paper / Code - A comprehensive tutorial on convex trajectory optimization.
Sequential convex programming for non-linear stochastic optimal control
Published:
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
Published:
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
Published:
Project Page / Paper / Code - A sample-based approach to risk-averse trajectory optimization.
Exact Characterization of the Convex Hulls of Reachable Sets
Published:
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
Published:
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
Published:
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.