相关论文: Digital Twins Meet the Koopman Operator: Data-Driv…

Contemporary research in autonomous driving has demonstrated tremendous potential in emulating the traits of human driving. However, they primarily cater to areas with well built road infrastructure and appropriate traffic management…

Data-driven analysis and control of dynamical systems have gained a lot of interest in recent years. While the class of linear systems is well studied, theoretical results for nonlinear systems are still rare. In this paper, we present a…

This paper proposes Koopman operator-based Stochastic Model Predictive Control (K-SMPC) for enhanced lateral control of autonomous vehicles. The Koopman operator is a linear map representing the nonlinear dynamics in an infinite-dimensional…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

In this work, we propose a novel flow field-based motion planning method that drives a robot from any initial state to a desired reference trajectory such that it converges to the trajectory's end point. Despite demonstrated efficacy in…

Autonomous mobility-on-demand systems are a viable alternative to mitigate many transportation-related externalities in cities, such as rising vehicle volumes in urban areas and transportation-related pollution. However, the success of…

The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through…

To avoid complex constraints of the traditional nonlinear method for tethered space robot (TSR) deployment, this paper proposes a data-driven optimal control framework with an improved deep learning based Koopman operator that could be…

Implementing an autonomous vehicle that is able to output feasible, smooth and efficient trajectories is a long-standing challenge. Several approaches have been considered, roughly falling under two categories: rule-based and learning-based…

In recent years there has been a considerable drive towards data-driven analysis, discovery and control of dynamical systems. To this end, operator theoretic methods, namely, Koopman operator methods have gained a lot of interest. In…

Data-driven safety verification of robotic systems often relies on zonotopic reachability analysis due to its scalability and computational efficiency. However, for nonlinear systems, these methods can become overly conservative, especially…

Optical communication is developing rapidly in the directions of hardware resource diversification, transmission system flexibility, and network function virtualization. Its proliferation poses a significant challenge to traditional optical…

Data-driven simulation has become a favorable way to train and test autonomous driving algorithms. The idea of replacing the actual environment with a learned simulator has also been explored in model-based reinforcement learning in the…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

The training of autonomous agents often requires expensive and unsafe trial-and-error interactions with the environment. Nowadays several data sets containing recorded experiences of intelligent agents performing various tasks, spanning…

Understanding occupant-vehicle interactions by modeling control transitions is important to ensure safe approaches to passenger vehicle automation. Models which contain contextual, semantically meaningful representations of driver states…

Learning-based filtering has demonstrated strong performance in non-linear dynamical systems, particularly when the statistics of noise are unknown. However, in real-world deployments, environmental factors, such as changing wind conditions…

Nonlinear dynamical systems can be made easier to control by lifting them into the space of observable functions, where their evolution is described by the linear Koopman operator. This paper describes how the Koopman operator can be used…

Simulation frameworks have been key enablers for the development and validation of autonomous driving systems. However, existing methods struggle to comprehensively address the autonomy-oriented requirements of balancing: (i) dynamical…

This paper presents a distributed Koopman operator learning framework for modeling unknown nonlinear dynamics using sequential observations from multiple agents. Each agent estimates a local Koopman approximation based on lifted data and…