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07/31/2023
Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles
We develop an algorithm to control an underactuated unmanned surface veh...
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04/11/2023
Diagnosing and Augmenting Feature Representations in Correctional Inverse Reinforcement Learning
Robots have been increasingly better at doing tasks for humans by learni...
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04/04/2023
Optimal Transport for Correctional Learning
The contribution of this paper is a generalized formulation of correctio...
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04/03/2023
Prediction-Based Leader-Follower Rendezvous Model Predictive Control with Robustness to Communication Losses
In this paper we propose a novel distributed model predictive control (D...
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01/31/2023
Interaction and Decision Making-aware Motion Planning using Branch Model Predictive Control
Motion planning for autonomous vehicles sharing the road with human driv...
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11/15/2021
A teacher-student framework for online correctional learning
A classical learning setting is one in which a student collects data, or...
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10/14/2020
A Geometric Approach to On-road Motion Planning for Long and Multi-Body Heavy-Duty Vehicles
Driving heavy-duty vehicles, such as buses and tractor-trailer vehicles,...
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10/03/2020
Learning the Step-size Policy for the Limited-Memory Broyden-Fletcher-Goldfarb-Shanno Algorithm
We consider the problem of how to learn a step-size policy for the Limit...
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06/12/2020
Task-similarity Aware Meta-learning through Nonparametric Kernel Regression
Meta-learning refers to the process of abstracting a learning rule for a...
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05/08/2020
On Training and Evaluation of Neural Network Approaches for Model Predictive Control
The contribution of this paper is a framework for training and evaluatio...
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01/19/2020
Optimization-Based On-Road Path Planning for Articulated Vehicles
Maneuvering an articulated vehicle on narrow road stretches is often a c...
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12/20/2019
Teaching robots to perceive time – A reinforcement learning approach (Extended version)
Time perception is the phenomenological experience of time by an individ...
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11/26/2019
Learning sparse linear dynamic networks in a hyper-parameter free setting
We address the issue of estimating the topology and dynamics of sparse l...
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11/26/2019
Recursive Prediction of Graph Signals with Incoming Nodes
Kernel and linear regression have been recently explored in the predicti...
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05/05/2019
Path Planning for Autonomous Bus Driving in Urban Environments
Driving in urban environments often presents difficult situations that r...
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01/26/2018
Trajectory Generation using Sharpness Continuous Dubins-like Paths with Applications in Control of Heavy Duty Vehicles
We present a trajectory generation framework for control of wheeled vehi...
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12/01/2014
How to monitor and mitigate stair-casing in l1 trend filtering
In this paper we study the estimation of changing trends in time-series ...
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07/22/2014
Approximate Regularization Path for Nuclear Norm Based H2 Model Reduction
This paper concerns model reduction of dynamical systems using the nucle...
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01/21/2014
On change point detection using the fused lasso method
In this paper we analyze the asymptotic properties of l1 penalized maxim...
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03/08/2012
An ADMM Algorithm for a Class of Total Variation Regularized Estimation Problems
We present an alternating augmented Lagrangian method for convex optimiz...
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11/25/2011
