Search Results - "Schwager, Mac"

ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games by Le Cleac’h, Simon, Schwager, Mac, Manchester, Zachary

“…Dynamic games are an effective paradigm for dealing with the control of multiple interacting actors. This paper introduces augmented Lagrangian GAME-theoretic…”
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Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures by Dingjiang Zhou, Zijian Wang, Schwager, Mac

“…This paper presents a method for controlling a swarm of quadrotors to perform agile interleaved maneuvers while holding a fixed relative formation, or…”
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Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios by Wang, Mingyu, Wang, Zijian, Talbot, John, Gerdes, J. Christian, Schwager, Mac

“…In this article, we propose a nonlinear receding horizon game-theoretic planner for autonomous cars in competitive scenarios with other cars. The online…”
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SACBP: Belief space planning for continuous-time dynamical systems via stochastic sequential action control by Nishimura, Haruki, Schwager, Mac

“…We propose a novel belief space planning technique for continuous dynamics by viewing the belief system as a hybrid dynamical system with time-driven…”
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Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells by Dingjiang Zhou, Zijian Wang, Bandyopadhyay, Saptarshi, Schwager, Mac

“…This letter presents a distributed collision avoidance algorithm for multiple dynamic vehicles moving in arbitrary dimensions. In our algorithm, each robot…”
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Distributed multi-robot formation control in dynamic environments by Alonso-Mora, Javier, Montijano, Eduardo, Nägeli, Tobias, Hilliges, Otmar, Schwager, Mac, Rus, Daniela

“…This paper presents a distributed method for formation control of a homogeneous team of aerial or ground mobile robots navigating in environments with static…”
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Vision-Based Distributed Formation Control Without an External Positioning System by Montijano, Eduardo, Cristofalo, Eric, Dingjiang Zhou, Schwager, Mac, Sagues, Carlos

“…In this paper, we present a fully distributed solution to drive a team of robots to reach a desired formation in the absence of an external positioning system…”
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Decentralized, Adaptive Coverage Control for Networked Robots by Schwager, Mac, Rus, Daniela, Slotine, Jean-Jacques

“…A decentralized, adaptive control law is presented to drive a network of mobile robots to an optimal sensing configuration. The control law is adaptive in that…”
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Eyes in the Sky: Decentralized Control for the Deployment of Robotic Camera Networks by Schwager, Mac, Julian, Brian J., Angermann, Michael, Rus, Daniela

“…This paper presents a decentralized control strategy for positioning and orienting multiple robotic cameras to collectively monitor an environment. The cameras…”
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Multidrone aerial surveys of penguin colonies in Antarctica by Shah, Kunal, Ballard, Grant, Schmidt, Annie, Schwager, Mac

“…Speed is essential in wildlife surveys due to the dynamic movement of animals throughout their environment and potentially extreme changes in weather. In this…”
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TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation by Chen, Claire, Culbertson, Preston, Lepert, Marion, Schwager, Mac, Bohg, Jeannette

“…Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories…”
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Game-Theoretic Planning for Risk-Aware Interactive Agents by Wang, Mingyu, Mehr, Negar, Gaidon, Adrien, Schwager, Mac

“…Modeling the stochastic behavior of interacting agents is key for safe motion planning. In this paper, we study the interaction of risk-aware agents in a…”
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Unifying geometric, probabilistic, and potential field approaches to multi-robot deployment by Schwager, Mac, Rus, Daniela, Slotine, Jean-Jacques

“…This paper unifies and extends several different existing strategies for deploying groups of robots in an environment. A cost function is proposed that can be…”
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Control in belief space with temporal logic specifications using vision-based localization by Leahy, Kevin, Cristofalo, Eric, Vasile, Cristian-Ioan, Jones, Austin, Montijano, Eduardo, Schwager, Mac, Belta, Calin

“…We present a solution for operating a vehicle without global positioning infrastructure while satisfying constraints on its temporal behavior, and on the…”
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Trust But Verify: A Distributed Algorithm for Multi-Robot Wireframe Exploration and Mapping by Caccavale, Adam, Schwager, Mac

“…This paper presents a novel distributed mapping algorithm for multiple resource-constrained robots operating in a rectilinear 2D environment. The algorithm is…”
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Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints by Leahy, Kevin, Zhou, Dingjiang, Vasile, Cristian-Ioan, Oikonomopoulos, Konstantinos, Schwager, Mac, Belta, Calin

“…In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques are used to…”
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RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch by Nishimura, Haruki, Mehr, Negar, Gaidon, Adrien, Schwager, Mac

“…Successful robotic operation in stochastic environments relies on accurate characterization of the underlying probability distributions, yet this is often…”
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Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components by Vincent, Joseph A., Schwager, Mac

“…We present a method for computing exact reachable sets for deep neural networks with rectified linear unit (ReLU) activation. Our method is well-suited for use…”
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Q-Learning for robust satisfaction of signal temporal logic specifications by Aksaray, Derya, Jones, Austin, Zhaodan Kong, Schwager, Mac, Belta, Calin

“…This paper addresses the problem of learning optimal policies for satisfying signal temporal logic (STL) specifications by agents with unknown stochastic…”
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Controlling Noncooperative Herds with Robotic Herders by Pierson, Alyssa, Schwager, Mac

“…We present control strategies for robotic herders to drive noncooperative herds. Our key insight enforces geometrical relationships that map the combined…”
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