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Gradient Projection Anti-windup Scheme on Constrained Planar LTI Systems
(2010-03-15)
The gradient projection anti-windup (GPAW) scheme was recently proposed as an anti-windup method for nonlinear multi-input-multi-output systems/controllers, the solution of which was recognized as a largely open problem ...
Using Support Vector Machines and Bayesian Filtering for Classifying Agent Intentions at Road Intersections
(2009-09-15)
Classifying other agents’ intentions is a very complex task but it can be very essential in assisting (autonomous or human) agents in navigating safely in dynamic and possibly hostile environments. This paper introduces a ...
Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control
(2008-09-29)
Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-in-control systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller ...
Threat-aware Path Planning in Uncertain Urban Environments [Attached Video]
(IEEE, 2010-10-01)
This paper considers the path planning problem for an autonomous vehicle in an
urban environment populated with static obstacles and moving vehicles with
uncertain intents. We propose a novel threat assessment module, ...
Supplementary material for nonparameteric adaptive control of time varying systems using gaussian processes
(2013-03-15)
Real-world dynamical variations make adaptive control of time-varying systems highly relevant. However, most adaptive control literature focuses on analyzing systems where the uncertainty is represented as a weighted linear ...
Efficient Distributed Sensing Using Adaptive Censoring-Based Inference
(2013-03-15)
In many distributed sensing applications it is likely that only a few agents will have valuable information at any given time. Since
wireless communication between agents is resource-intensive, it is important to ensure ...
Bayesian Nonparametric Adaptive Control using Gaussian Processes
(2013-03-15)
Most current Model Reference Adaptive Control
(MRAC) methods rely on parametric adaptive elements, in
which the number of parameters of the adaptive element are
fixed a priori, often through expert judgment. An example ...
Probabilistically Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns
(2011-07-04)
This paper presents a real-time path planning algorithm which can guarantee
probabilistic feasibility for autonomous robots subject to process noise and an
uncertain environment, including dynamic obstacles with uncertain ...
Information-Theoretic Motion Planning for Constrained Sensor Networks
(2012-07-20)
This paper considers the problem of online informative motion planning for a network of heterogeneous sensing agents, each subject to dynamic constraints, environmental constraints, and sensor limitations. Prior work has ...