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Lie Algebraic Cost Function Design for Control on Lie Groups


Apr 20, 2022
Sangli Teng, William Clark, Anthony Bloch, Ram Vasudevan, Maani Ghaffari

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* 8 pages 

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An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control


Mar 16, 2022
Sangli Teng, Dianhao Chen, William Clark, Maani Ghaffari

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* Submitted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 

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Optimal Target Shape for LiDAR Pose Estimation


Sep 06, 2021
Jiunn-Kai Huang, William Clark, Jessy W. Grizzle

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Asymmetric Private Set Intersection with Applications to Contact Tracing and Private Vertical Federated Machine Learning


Nov 18, 2020
Nick Angelou, Ayoub Benaissa, Bogdan Cebere, William Clark, Adam James Hall, Michael A. Hoeh, Daniel Liu, Pavlos Papadopoulos, Robin Roehm, Robert Sandmann, Phillipp Schoppmann, Tom Titcombe

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* NeurIPS 2020 Workshop on Privacy Preserving Machine Learning (PPML 2020) 

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A Path-Dependent Variational Framework for Incremental Information Gathering


Oct 26, 2020
William Clark, Maani Ghaffari

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* 22 pages, 5 figures 

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Nonparametric Continuous Sensor Registration


Feb 23, 2020
William Clark, Maani Ghaffari, Anthony Bloch

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* 19 pages. arXiv admin note: substantial text overlap with arXiv:1904.02266 

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Adaptive Continuous Visual Odometry from RGB-D Images


Oct 01, 2019
Tzu-Yuan Lin, William Clark, Ryan M. Eustice, Jessy W. Grizzle, Anthony Bloch, Maani Ghaffari

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* 7 pages 

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Continuous Direct Sparse Visual Odometry from RGB-D Images


May 21, 2019
Maani Ghaffari, William Clark, Anthony Bloch, Ryan M. Eustice, Jessy W. Grizzle

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* 9 pages 

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