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  • Safety Barrier Certificates for Heterogeneous Multi-Robot Systems 

    Wang, Li; Ames, Aaron; Egerstedt, Magnus (Georgia Institute of Technology, 2016-07)
    paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of ...
  • Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control 

    Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-03)
    Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this ...
  • Correct-By-Construction Adaptive Cruise Control: Two Approaches 

    Nilsson, Petter; Hussien, Omar; Balkan, Ayca; Chen, Yuxiao; Ames, Aaron A. D.; Grizzle, Jessy; Ozay, Necmiye; Peng, Huei; Tabuada, Paulo (Georgia Institute of Technology, 2016-07)
    Motivated by the challenge of developing control software provably meeting specifications for real world problems, this paper applies formal methods to adaptive cruise control (ACC). Starting from a Linear Temporal Logic ...
  • Multi-Contact Bipedal Robotic Locomotion 

    Zhao, Huihua; Herei, Ayonga; Ma, Wen-loong; Ames, Aaron D. (Georgia Institute of TechnologyCambridge University Press, 2015)
    This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by ...
  • Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to Robot Locomotion 

    Powell, Matthew J.; Ames, Aaron D. (Georgia Institute of Technology, 2016-07)
    This paper considers the application of classical control methods, designed for unconstrained nonlinear systems, to systems with nontrivial input constraints. As shown throughout the literature, unconstrained classical ...
  • Unification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programs 

    Chao, Kenneth Y.; Powell, Matthew J.; Ames, Aaron D.; Hur, Pilwon (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)
    This paper presents a novel method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) and torque constraints. The proposed method ...
  • Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion 

    Kolathaya, Shishir; Hereid, Ayonga; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)
    Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability due to sensor noise exacerbated by dynamic movements. As a means of understanding ...
  • First Steps Toward Translating Robotic Walking To Prostheses: A Nonlinear Optimization Based Control Approach 

    Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologySpringer, 2016)
    This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the ...
  • The Middle Child Problem: Revisiting Parametric Min-cut and Seeds for Object Proposals 

    Humayun, Ahmad; Li, Fuxin; Rehg, James M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
    Object proposals have recently fueled the progress in detection performance. These proposals aim to provide category-agnostic localizations for all objects in an image. One way to generate proposals is to perform parametric ...
  • Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion 

    Hubicki, Christian M.; Hereid, Ayonga; Grey, Michael X.; Thomaz, Andrea L.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best use of all of this freedom. We present a framework for maximizing the use of the full ...
  • Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS 

    Reher, Jacob; Cousineau, Eric A.; Hereid, Ayonga; Hubicki, Christian M.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a hardware platform capable of these behaviors, the ...
  • 3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics 

    Hereid, Ayonga; Cousineau, Eric A.; Hubick, Christian M.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees of ...
  • Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis 

    Tron, Roberto; Carlone, Luca; Dellaert, Frank; Daniilidis, Kostas (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
    Bearing-only localization can be formulated in terms of optimal graph embedding: one has to assign a 2-D or 3-D position to each node in a graph while satisfying as close as possible all the bearing-only constraints on ...
  • IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation 

    Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (Georgia Institute of Technology, 2015)
    Recent results in monocular visual-inertial navigation (VIN) have shown that optimization-based approaches outperform filtering methods in terms of accuracy due to their capability to relinearize past states. However, the ...
  • Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions 

    Carlone, Luca; Rosen, David M.; Calafiore, Giuseppe; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
    State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, ...
  • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

    Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2014-12)
    Recent work has investigated the problem of continuous-time trajectory estimation and mapping for mobile robots by formulating the problem as sparse Gaussian process regression. Gaussian processes provide a continuous-time ...
  • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

    Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2015-07)
    Recent work on simultaneous trajectory estimation and mapping (STEAM) for mobile robots has found success by representing the trajectory as a Gaussian process. Gaussian processes can represent a ...
  • Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating 

    Cunningham, Alexander; Indelman, Vadim; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-11)
    This report presents our recent and ongoing work developing a consistent decentralized data fusion approach for robust multi-robot SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our previous ...
  • Distributed Navigation with Unknown Initial Poses and Data Association via Expectation Maximization 

    Indelman, Vadim; Michael, Nathan; Dellaert, Frank (Georgia Institute of Technology, 2015-02)
    We present a novel approach for multi-robot distributed and incremental inference over variables of interest, such as robot trajectories, considering the initial relative poses between the robots and multi-robot ...
  • Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing 

    Indelman, Vadim; Williams, Stephen; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyElsevier B.V., 2013-08)
    This paper presents a new approach for high-rate information fusion in modern inertial navigation systems, that have a variety of sensors operating at different frequencies. Optimal information fusion corresponds to ...

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