Browsing Aerospace Control Laboratory: Technical Reports by Title
Now showing items 8-15 of 15
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Learning Sparse Gaussian Graphical Model with l0-regularization
(2014-08-22)For the problem of learning sparse Gaussian graphical models, it is desirable to obtain both sparse structures as well as good parameter estimates. Classical techniques, such as optimizing the l1-regularized maximum ... -
On Approximate Dynamic Inversion
(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
(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
(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
(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-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, ... -
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 ...