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• FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric
  2023 · 9 citations
• Risk-averse Receding Horizon Motion Planning For Obstacle Avoidance Using Coherent Risk Measures
  2022 · 7 citations
• Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety
  2024 · 6 citations
• Koopman NMPC: Koopman-based Learning and Nonlinear Model Predictive Control of Control-affine Systems
  2021 · 4 citations
• Episodic Koopman Learning of Nonlinear Robot Dynamics with Application to Fast Multirotor Landing
  2020 · 2 citations
• STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
  2023 · 2 citations
• Quadrotor Trajectory Tracking with Learned Dynamics: Joint Koopman-based Learning of System Models and Function Dictionaries
  2021 · 1 citations
• Bayesian Optimal Experimental Design for Robot Kinematic Calibration
  2024 · 1 citations
• Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
  2026
• Robust Control Barrier Functions Using Uncertainty Estimation With Application To Mobile Robots
  2024
• Risk-sensitive Motion Planning Using Entropic Value-at-risk
  2020
• Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
  2019
• The Fractal Hand-II: Reviving a Classic Mechanism for Contemporary Grasping Challenges
  2023