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Meta-Learning-Based Robust Adaptive Flight Control Under Uncertain Wind Conditions


Mar 04, 2021
Michael O'Connell, Guanya Shi, Xichen Shi, Soon-Jo Chung

* This article presents preliminary results and will be updated 

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Learning-based Adaptive Control via Contraction Theory


Mar 04, 2021
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques Slotine

* Submitted to IEEE Control Systems Letters (L-CSS), Mar. 2021 

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Imitation Learning for Robust and Safe Real-time Motion Planning: A Contraction Theory Approach


Feb 25, 2021
Hiroyasu Tsukamoto, Soon-Jo Chung

* Submitted to Robotics and Automation Letters (RA-L), Feb. 2021 

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Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions


Dec 10, 2020
Guanya Shi, Wolfgang Hönig, Xichen Shi, Yisong Yue, Soon-Jo Chung

* Video is available at https://youtu.be/Y02juH6BDxo 

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Neural Stochastic Contraction Metrics for Robust Control and Estimation


Nov 06, 2020
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques E. Slotine

* Submitted to IEEE Control Systems Letters (L-CSS) and minor Revision Requested 

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Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems


May 09, 2020
Yashwanth Kumar Nakka, Anqi Liu, Guanya Shi, Anima Anandkumar, Yisong Yue, Soon-Jo Chung

* Submitted to RA-L 2020 

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Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing


Mar 17, 2020
Xichen Shi, Patrick Spieler, Ellande Tang, Elena-Sorina Lupu, Phillip Tokumaru, Soon-Jo Chung

* 7 pages, 7 figures, International Conference on Robotics and Automation (ICRA) 2020 

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Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions


Mar 06, 2020
Guanya Shi, Wolfgang Hönig, Yisong Yue, Soon-Jo Chung

* International Conference on Robotics and Automation (ICRA), 2020, https://youtu.be/v4j-9pH11Q8 

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GLAS: Global-to-Local Safe Autonomy Synthesis for Multi-Robot Motion Planning with End-to-End Learning


Feb 26, 2020
Benjamin Rivière, Wolfgang Hoenig, Yisong Yue, Soon-Jo Chung

* Submitted to IROS with RA-L option, 2020 

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Beyond No-Regret: Competitive Control via Online Optimization with Memory


Feb 13, 2020
Guanya Shi, Yiheng Lin, Soon-Jo Chung, Yisong Yue, Adam Wierman


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Robust Regression for Safe Exploration in Control


Jun 13, 2019
Anqi Liu, Guanya Shi, Soon-Jo Chung, Anima Anandkumar, Yisong Yue


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Neural Lander: Stable Drone Landing Control using Learned Dynamics


Mar 04, 2019
Guanya Shi, Xichen Shi, Michael O'Connell, Rose Yu, Kamyar Azizzadenesheli, Animashree Anandkumar, Yisong Yue, Soon-Jo Chung

* 7 pages, 5 figures, https://youtu.be/FLLsG0S78ik 

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Target Assignment in Robotic Networks: Distance Optimality Guarantees and Hierarchical Strategies


Jul 31, 2014
Jingjin Yu, Soon-Jo Chung, Petros G. Voulgaris


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