Browsing Aerospace Control Laboratory: Technical Reports by Author "How, Jonathan P."
Now showing items 1-14 of 14
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Bayesian Nonparametric Adaptive Control using Gaussian Processes
Chowdhary, Girish; Kingravi, Hassan A.; How, Jonathan P.; Vela, Patricio A. (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 ... -
Corrections to "Geometric Properties of Gradient Projection Anti-windup Compensated Systems"
Teo, Justin; How, Jonathan P. (2010-06-29)In a conference paper titled "Geometric Properties of Gradient Projection Anti-windup Compensated Systems," two main results were presented. The first is the controller state-output consistency property of gradient projection ... -
Efficient distributed information fusion using value of information based censoring
Mu, Beipeng; How, Jonathan P.; Chowdhary, Girish (2012-07-27)In many distributed sensing applications, not all agents have valuable information at all times. Therefore, requiring all agents to communicate at all times can be resource intensive. In this work, the notion of Value ... -
Efficient Distributed Sensing Using Adaptive Censoring-Based Inference
Mu, Beipeng; Chowdhary, Girish; How, Jonathan P. (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 ... -
Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control
Teo, Justin; How, Jonathan P. (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 ... -
Gradient Projection Anti-windup Scheme on Constrained Planar LTI Systems
Teo, Justin; How, Jonathan P. (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 ... -
Hover, Transition, and Level Flight Control Design for a Single-Propeller Indoor Airplane
Frank, Adrian; McGrew, James; Valenti, Mario; Levine, Daniel; How, Jonathan P. (2007-05-15)This paper presents vehicle models and test flight results for an autonomous fixed-wing airplane that is designed to take-off, hover, transition to and from level-flight modes, and perch on a vertical landing platform in ... -
On Approximate Dynamic Inversion
Teo, Justin; How, Jonathan P. (2009-05-08)Approximate Dynamic Inversion has been established as a method to control minimum-phase, nonaffine-in-control systems [1]. In this report, we re-state the main results of [1], clarify some minor notational errors, and prove ... -
Probabilistically Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns
Luders, Brandon D.; Aoude, Georges S.; Joseph, Joshua M.; Roy, Nicholas; How, Jonathan P. (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 ... -
Reaching Consensus with Imprecise Probabilities over a Network
Bertuccelli, Luca F.; How, Jonathan P. (2008-12-20)This paper discusses the problem of a distributed network of agents attempting to agree on an imprecise probability over a network. Unique from other related work however, the agents must reach agreement while accounting ... -
Supplementary material for nonparameteric adaptive control of time varying systems using gaussian processes
Chowdhary, Girish; Kingravi, Hassan A.; How, Jonathan P.; Vela, Patricio A. (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 ... -
Threat Assessment Design for Driver Assistance System at Intersections: Experiment Video
Aoude, Georges S.; Luders, Brandon D.; Lee, Kenneth K. H.; Levine, Daniel S.; How, Jonathan P. (2011-07-07) -
Threat-aware Path Planning in Uncertain Urban Environments [Attached Video]
Aoude, Georges S.; Luders, Brandon D.; Levine, Daniel S.; How, Jonathan P. (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, ... -
Using Support Vector Machines and Bayesian Filtering for Classifying Agent Intentions at Road Intersections
Aoude, Georges S.; How, Jonathan P. (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 ...