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Biological neural networks are often modeled as systems of coupled, nonlinear, ordinary or partial differential equations. The number of differential equations used to model a network increases with the size of the network and the level of…
The practical deployment of nonlinear model predictive control (NMPC) is often limited by online computation: solving a nonlinear program at high control rates can be expensive on embedded hardware, especially when models are complex or…
In this paper, we present a methodology for constructing data-driven maneuver generation models for agile aircraft that can generalize across a wide range of trim conditions and aircraft model parameters. Maneuver generation models play a…
We present a neuro-inspired framework for embodied planning and control. Building on three principles that enable fast and highly effective goal-directed behavior in the mammalian brain - paired forward/inverse internal models, open-loop…
In autonomous and mobile robotics, one of the main challenges is the robust on-the-fly perception of the environment, which is often unknown and dynamic, like in autonomous drone racing. In this work, we propose a novel deep neural…
Air hockey demands split-second decisions at high puck velocities, a challenge we address with a compact network of spiking neurons running on a mixed-signal analog/digital neuromorphic processor. By co-designing hardware and learning…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
In this article we present an implementation of non-monotonic reasoning in an embedded system. As a part of an autonomous motor-glider, it simulates piloting decisions of an airplane. A real pilot must take care not only about the…
We present formulation and open-source tools to achieve in-material model predictive control of sensor/actuator systems using learned forward kinematics and on-device computation. Microcontroller units (MCUs) that compute the prediction and…
Multi-plane light converter (MPLC) designs supporting hundreds of modes are attractive in high-throughput optical communications. These photonic structures typically comprise >10 phase masks in free space, with millions of independent…
Developing and testing novel control and motion planning algorithms for aerial vehicles can be a challenging task, with the robotics community relying more than ever on 3D simulation technologies to evaluate the performance of new…
The decision logic for the ACAS X family of aircraft collision avoidance systems is represented as a large numeric table. Due to storage constraints of certified avionics hardware, neural networks have been suggested as a way to…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
Reinforcement learning (RL) is an agent-based approach for teaching robots to navigate within the physical world. Gathering data for RL is known to be a laborious task, and real-world experiments can be risky. Simulators facilitate the…
Recursive neural networks have widely been used by researchers to handle applications with recursively or hierarchically structured data. However, embedded control flow deep learning frameworks such as TensorFlow, Theano, Caffe2, and MXNet…
Model predictive control (MPC) has been used widely in power electronics due to its simple concept, fast dynamic response, and good reference tracking. However, it suffers from parametric uncertainties, since it directly relies on the…
ControlNet offers a powerful way to guide diffusion-based generative models, yet most implementations rely on ad-hoc heuristics to choose which network blocks to control-an approach that varies unpredictably with different tasks. To address…
Recent works in end-to-end control for autonomous driving have investigated the use of vision-based exteroceptive perception. Inspired by such results, we propose a new end-to-end memory-based neural architecture for robot steering and…
The increasing need for compact and low-power computing solutions for machine learning applications has triggered significant interest in energy-efficient neuromorphic systems. However, most of these architectures rely on spiking neural…
Autonomous driving in high-speed racing, as opposed to urban environments, presents significant challenges in scene understanding due to rapid changes in the track environment. Traditional sequential network approaches may struggle to meet…