A 3D surface plot of an occupation kernel with a central peak

Occupation kernels and Liouville operators

Operator theoretic methods for data-driven identification, verification, and control synthesis.

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A three-panel 3D point-cloud map of an environment

Mapping and planning in multi-agent teams

The overall objective in this research area is to enable mixed-capability UAS–UGV teams to maintain useful estimates of their environment and make effective navigation decisions despite uncertain localization, unreliable contributors, and exposure constraints.

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A photograph of an underwater vehicle in the water

Model-based reinforcement learning

Capitalizing on recent developments in reinforcement learning in continuous time and space, we develop novel model-based reinforcement learning methods that vastly improve data efficiency and usefulness for online optimal feedback control.

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A 3D surface plot of a kernel function with a central peak

Data-driven modeling

Motivated by the need to adapt to changing models and reduce modeling errors in model-based control, we developed data-driven adaptive system identification methods to identify unknown parameters in the system model.

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A block diagram of inverse reinforcement learning with a cognitive agent, critic, and estimated cost function

Inverse reinforcement learning

Based on the premise that a cost (or reward) function fully characterizes the intent of the demonstrator, we developed methods to learn the cost function from observations for linear and nonlinear uncertain systems.

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A 3D surface plot of a nonsmooth Lyapunov function

Stability of nonsmooth systems

Extensions of the LaSalle-Yoshizawa Theorem to nonsmooth nonautonomous systems and switched systems utilizing Filippov solutions of nonsmooth differential equations and nonstrict Lyapunov functions.

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A photograph of stimulation electrodes placed on a participant's leg

Functional electrical stimulation

Potential uses of neuromuscular electrical stimulation for gait modifications leading to management of Osteoarthritis related pain.

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A plot of multiple agent state trajectories converging over time

Online solutions of differential games

Data-driven model-based architectures to find feedback equilibrium solutions to differential games under relaxed excitation conditions.

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A photograph of a leg testbed with labeled torque, force, and leg angle measurements

Systems with state and input delays

Control methods for systems with known and unknown state and input delays.

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