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Found 6 papers, 3 papers with code
$\mathcal{L}_1$Quad: $\mathcal{L}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
Quadrotors that can operate safely in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications.
$\mathcal{L}_1$ Adaptive Augmentation for Geometric Tracking Control of Quadrotors
This paper introduces an $\mathcal{L}_1$ adaptive control augmentation for geometric tracking control of quadrotors.
Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the $\mathcal L_\infty$ gain from the disturbances to nominal-actual trajectory deviations.
Contraction $\mathcal{L}_1$-Adaptive Control using Gaussian Processes
We present $\mathcal{CL}_1$-$\mathcal{GP}$, a control framework that enables safe simultaneous learning and control for systems subject to uncertainties.
Intent-Aware Probabilistic Trajectory Estimation for Collision Prediction with Uncertainty Quantification
We show that the uncertainty region for obstacle positions can be expressed in terms of a combination of polynomials generated with Gaussian process regression.
Proximity Queries for Absolutely Continuous Parametric Curves
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment.
Robotics Computational Geometry Graphics
