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09/17/2023
Optimal Scene Graph Planning with Large Language Model Guidance
Recent advances in metric, semantic, and topological mapping have equipp...
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09/17/2023
Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control
Reliable autonomous navigation requires adapting the control policy of a...
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07/10/2023
Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks
The graph identification problem consists of discovering the interaction...
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11/29/2022
Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems
Incorporating prior knowledge of physics laws and structural properties ...
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09/20/2022
LEMURS: Learning Distributed Multi-Robot Interactions
This paper presents LEMURS, an algorithm for learning scalable multi-rob...
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07/22/2022
Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Stability and safety are critical properties for successful deployment o...
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01/12/2022
Physics-guided Learning-based Adaptive Control on the SE(3) Manifold
In real-world robotics applications, accurate models of robot dynamics a...
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12/09/2021
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Safe autonomous navigation in unknown environments is an important probl...
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09/21/2021
Learning Adaptive Control for SE(3) Hamiltonian Dynamics
Fast adaptive control is a critical component for reliable robot autonom...
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06/24/2021
Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control
Accurate models of robot dynamics are critical for safe and stable contr...
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09/15/2020
Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping
This paper focuses on online occupancy mapping and real-time collision c...
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05/14/2020
Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor
This paper considers the problem of safe autonomous navigation in unknow...
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02/05/2020
