相关论文: Event-Based Adaptive Koopman Framework for Optic F…

Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking…

This paper presents a neural network-based Unscented Kalman Filter (UKF) to estimate and track the pose (i.e., position and orientation) of a known, noncooperative, tumbling target spacecraft in a close-proximity rendezvous scenario. The…

Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied, 3D LiDAR-based methods remain underutilized despite their…

Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under…

Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findings: We identify the following trends in recent research…

The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…

This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopman operator theory and integrates the…

Data-driven modelling techniques provide a method for deriving models of dynamical systems directly from complicated data streams. However, tracking and forecasting such data streams poses a significant challenge to most methods, as they…

Constraint handling during tracking operations is at the core of many real-world control implementations and is well understood when dynamic models of the underlying system exist, yet becomes more challenging when data-driven models are…

Online event-based perception techniques on board robots navigating in complex, unstructured, and dynamic environments can suffer unpredictable changes in the incoming event rates and their processing times, which can cause computational…

Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the…

We present KoopCast, a lightweight yet efficient model for trajectory forecasting in general dynamic environments. Our approach leverages Koopman operator theory, which enables a linear representation of nonlinear dynamics by lifting…

Mixed vehicle platoons, comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), hold significant potential for enhancing traffic performance. However, most existing control strategies assume linear system…

In this paper, we propose a novel data-driven approach for learning and control of quadrotor UAVs based on the Koopman operator and extended dynamic mode decomposition (EDMD). Building observables for EDMD based on conventional methods like…

A majority of methods from dynamical systems analysis, especially those in applied settings, rely on Poincar\'e's geometric picture that focuses on "dynamics of states". While this picture has fueled our field for a century, it has shown…

This paper proposes a unified family of learnable Koopman operator parameterizations that integrate linear dynamical systems theory with modern deep learning forecasting architectures. We introduce four learnable Koopman…

This paper presents a novel approach for optical flow control of Micro Air Vehicles (MAVs). The task is challenging due to the nonlinearity of optical flow observables. Our proposed Incremental Nonlinear Dynamic Inversion (INDI) control…

The Koopman operator has emerged as a powerful tool for the analysis of nonlinear dynamical systems as it provides coordinate transformations to globally linearize the dynamics. While recent deep learning approaches have been useful in…

Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…

This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…