Model-Based Control Using Koopman Operators

5 September 2017

Papers citing "Model-Based Control Using Koopman Operators"

48 / 48 papers shown

Title
A Koopman Operator-based NMPC Framework for Mobile Robot Navigation under Uncertainty Xiaobin Zhang Mohamed Karim Bouafoura Lu Shi Konstantinos Karydis 119 1 0 29 Apr 2025
Safe Navigation in Dynamic Environments Using Data-Driven Koopman Operators and Conformal Prediction Kaier Liang Guang Yang Mingyu Cai C. Vasile 122 1 0 01 Apr 2025
Learning-based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism Jingzong Zhou Yuhan Zhu Xiaobin Zhang Sunil Agrawal Konstantinos Karydis 105 2 0 14 Mar 2025
On the Surprising Effectiveness of Spectrum Clipping in Learning Stable Linear Dynamics Hanyao Guo Yunhai Han Harish Ravichandar 160 0 0 02 Dec 2024
Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator Steven Dahdah James R. Forbes 109 2 0 01 Oct 2024
Analysis of Truncated Singular Value Decomposition for Koopman Operator-Based Lane Change Model Chinnawut Nantabut 91 0 0 27 Sep 2024
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller Jeonghwan Kim Yunhai Han Harish Ravichandar Sehoon Ha 94 2 0 23 Sep 2024
Koopman Operators in Robot Learning Lu Shi Masih Haseli Giorgos Mamakoukas Daniel Bruder Ian Abraham Todd Murphey Jorge Cortes Konstantinos Karydis AI4CE 120 8 0 08 Aug 2024
Simultaneous System Identification and Model Predictive Control with No Dynamic Regret Hongyu Zhou Vasileios Tzoumas 169 5 0 04 Jul 2024
Linear quadratic control of nonlinear systems with Koopman operator learning and the Nyström method Edoardo Caldarelli Antoine Chatalic Adrià Colomé C. Molinari C. Ocampo‐Martinez Carme Torras Lorenzo Rosasco 105 0 0 05 Mar 2024
Task-Oriented Koopman-Based Control with Contrastive Encoder Xubo Lyu Hanyang Hu Seth Siriya Ye Pu Mo Chen 81 8 0 28 Sep 2023
Closed-Loop Koopman Operator Approximation Steven Dahdah James R. Forbes 62 2 0 27 Mar 2023
Physical Backdoor Trigger Activation of Autonomous Vehicle using Reachability Analysis Wenqing Li Yue Wang Mohamed Bennai Saif Eddin Jabari LLMSV 49 1 0 24 Mar 2023
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills Yunhai Han Mandy Xie Ye Zhao Harish Ravichandar 96 19 0 23 Mar 2023
Koopman Operators for Modeling and Control of Soft Robotics Lu Shi Zhichao Liu Konstantinos Karydis 101 20 0 23 Jan 2023
Physics-Informed Kernel Embeddings: Integrating Prior System Knowledge with Data-Driven Control Adam J. Thorpe Cyrus Neary Franck Djeumou Meeko Oishi Ufuk Topcu 78 7 0 09 Jan 2023
Sparsity Inducing Representations for Policy Decompositions Ashwin Khadke H. Geyer 30 1 0 15 Sep 2022
The Experimental Multi-Arm Pendulum on a Cart: A Benchmark System for Chaos, Learning, and Control Kadierdan Kaheman Urban Fasel J. Bramburger B. Strom J. Nathan Kutz Steven L. Brunton 23 4 0 12 May 2022
Koopman pose predictions for temporally consistent human walking estimations M. Mitjans David M. Levine L. Awad Roberto Tron 3DH 73 1 0 05 May 2022
ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-based Nonlinear Robotic Systems Lu Shi Konstantinos Karydis 127 27 0 24 Nov 2021
System Norm Regularization Methods for Koopman Operator Approximation Steven Dahdah James R. Forbes 51 11 0 18 Oct 2021
Koopman Operator Theory for Nonlinear Dynamic Modeling using Dynamic Mode Decomposition Gregory F. Snyder Zhuoyuan Song 22 12 0 16 Oct 2021
Learn Proportional Derivative Controllable Latent Space from Pixels Weiyao Wang Marin Kobilarov Gregory Hager 62 1 0 15 Oct 2021
Learning and Leveraging Features in Flow-Like Environments to Improve Situational Awareness Tahiya Salam Victoria Edwards M. A. Hsieh 49 7 0 13 Sep 2021
Vision-based system identification and 3D keypoint discovery using dynamics constraints Miguel Jaques Martin Asenov Michael G. Burke Timothy M. Hospedales 77 4 0 13 Sep 2021
Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators Filippos E. Sotiropoulos M. I. H. Harry Asada AI4CE 40 15 0 09 Jul 2021
Active Learning in Robotics: A Review of Control Principles Annalisa T. Taylor Thomas A. Berrueta Todd Murphey 98 76 0 25 Jun 2021
Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems Lu Shi Konstantinos Karydis 70 11 0 01 Mar 2021
Discriminant Dynamic Mode Decomposition for Labeled Spatio-Temporal Data Collections Naoya Takeishi Keisuke Fujii Koh Takeuchi Yoshinobu Kawahara 15 2 0 19 Feb 2021
Dynamical System Segmentation for Information Measures in Motion Thomas A. Berrueta Ana Pervan Kathleen Fitzsimons Todd Murphey 59 7 0 09 Dec 2020
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics Daniel Bruder Xun Fu Ram Vasudevan 57 81 0 20 Oct 2020
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems Giorgos Mamakoukas Maria L. Castaño Xiaobo Tan Todd Murphey 71 92 0 12 Oct 2020
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems Alexander Broad Ian Abraham Todd Murphey B. Argall 77 37 0 12 Jun 2020
Hybrid Control for Learning Motor Skills Ian Abraham Alexander Broad Allison Pinosky B. Argall Todd Murphey 54 1 0 05 Jun 2020
NewtonianVAE: Proportional Control and Goal Identification from Pixels via Physical Latent Spaces Miguel Jaques Michael G. Burke Timothy M. Hospedales DRL 66 20 0 02 Jun 2020
Learning Stable Models for Prediction and Control Giorgos Mamakoukas Ian Abraham Todd Murphey 87 39 0 08 May 2020
A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines Kun Wang Mridul Aanjaneya Kostas Bekris PINN 73 22 0 28 Apr 2020
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions Daniel Bruder Xun Fu R. Gillespie C. D. Remy Ram Vasudevan 61 66 0 04 Feb 2020
Learning Compositional Koopman Operators for Model-Based Control Yunzhu Li Hao He Jiajun Wu Dina Katabi Antonio Torralba 105 121 0 18 Oct 2019
Towards Scalable Koopman Operator Learning: Convergence Rates and A Distributed Learning Algorithm Zhiyuan Liu Guohui Ding Lijun Chen Enoch Yeung 25 3 0 30 Sep 2019
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators Ian Abraham Todd Murphey 71 166 0 12 Jun 2019
Highly Parallelized Data-driven MPC for Minimal Intervention Shared Control Alexander Broad Todd Murphey B. Argall 60 24 0 05 Jun 2019
Operation and Imitation under Safety-Aware Shared Control Alexander Broad Todd Murphey B. Argall 67 10 0 26 May 2019
Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device A. Kalinowska Thomas A. Berrueta A. Zoss Todd Murphey 27 9 0 28 Feb 2019
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control Daniel Bruder B. Gillespie C. D. Remy Ram Vasudevan 79 146 0 07 Feb 2019
Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory Daniel Bruder C. D. Remy Ram Vasudevan 69 109 0 15 Oct 2018
Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics Alexander Broad Todd Murphey B. Argall 52 48 0 24 Aug 2018
Structured Neural Network Dynamics for Model-based Control Alexander Broad Ian Abraham Todd Murphey B. Argall 30 6 0 03 Aug 2018