Berkeley Hybrid Systems Lab
Berkeley Hybrid Systems Lab
  • Видео 53
  • Просмотров 116 933
RSS 2020: 2nd Workshop on Robust Autonomy
This is the full recording of the 2nd Workshop on Robust Autonomy: Safe robot learning and control in uncertain real-world environments. The workshop was held virtually on 13 July 2020 as part of the Robotics: Science and Systems (RSS) conference.
For more information, please visit the official workshop website: sites.google.com/view/rss2020robustautonomy
Просмотров: 763

Видео

Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games
Просмотров 1,5 тыс.4 года назад
Authors: David Fridovich-Keil, Ellis Ratner, Lasse Peters, Anca D. Dragan, and Claire J. Tomlin Abstract: Many problems in robotics involve multiple decision making agents. To operate efficiently in such settings, a robot must reason about the impact of its decisions on the behavior of other agents. Differential games offer an expressive theoretical framework for formulating these types of mult...
A HJ Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning
Просмотров 6235 лет назад
Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling the human behavior a priori is challenging, such models are often parameterized, enabling the robot to adapt predictions based on observations by maintaining a distribution over the model parameters. This leads to a probabili...
Jaime Fernández Fisac: Safety Assurance for Human-Centered Robotic Systems
Просмотров 1,1 тыс.5 лет назад
Jaime Fernández Fisac Dissertation Talk Safety Assurance for Human-Centered Robotic Systems Staying Safe Even when Models are Wrong
Provably Safe Autonomous Navigation in Unknown Environments
Просмотров 1,1 тыс.5 лет назад
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles. Current safety analysis tools enable autonomous systems to reason about safety given full information about the state of the environment a priori. However, t...
A Classification-based Approach for Approximate Reachability
Просмотров 2785 лет назад
International Conference on Robotics and Automation (ICRA) 2019 Authors: Vicenç Rubies-Royo, David Fridovich-Keil, Sylvia Herbert and Claire J. Tomlin Abstract: Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonlinear systems. While HJ reachability can be formulated ve...
Safely Probabilistically Complete Real-Time Planning and Exploration in Unknown Environments
Просмотров 4495 лет назад
ICRA 2019 Authors: David Fridovich-Keil*, Jaime Fernandez-Fisac*, and Claire Tomlin
A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance
Просмотров 1,4 тыс.5 лет назад
Abstract: Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for robot navigation that accounts for high-order system dynamics and maintains safety in the presence of external disturbances, other robots, and non-...
Confidence-Aware Predictions: Pedestrian Example
Просмотров 2245 лет назад
Confidence-Aware Predictions: Pedestrian Example
Confidence-Aware Predictions: Dubins Car Example
Просмотров 2265 лет назад
Confidence-Aware Predictions: Dubins Car Example
Probabilistically Safe Robot Planning with Confidence Based Human Predictions
Просмотров 1,4 тыс.6 лет назад
RSS 2018 Jaime F. Fisac,* Andrea Bajcsy,* Sylvia L. Herbert, David Fridovich-Keil, Steven Wang, Claire J. Tomlin, and Anca D. Dragan In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result, predictions may degrade ...
Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning
Просмотров 2,5 тыс.6 лет назад
Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees but at high computational cost. This work builds on a recent development called FaSTrack in which a slow offline computation provides a modular safety guara...
UAV Traffic Management (UTM)
Просмотров 3,9 тыс.6 лет назад
Claire Tomlin, UC Berkeley
Hamilton-Jacobi Reachability Tutorial: Basics of HJ Reachability
Просмотров 5 тыс.6 лет назад
An overview of the theory behind Hamilton-Jacobi Reachability. Part 1 of the Hamilton-Jacobi Reachability Tutorial from the 2007 IEEE Conference on Decision and Control
Hamilton-Jacobi Reachability Tutorial: Decomposition of Dynamic Systems
Просмотров 7686 лет назад
An overview of recent advances in reachability theory using decomposition techniques Part 3 of the Hamilton-Jacobi Reachability Tutorial from the 2007 IEEE Conference on Decision and Control
Hamilton-Jacobi Reachability Tutorial: Tools for Computing Reachable Sets
Просмотров 2 тыс.6 лет назад
Hamilton-Jacobi Reachability Tutorial: Tools for Computing Reachable Sets
EE 221A: Linear Systems Theory, Lecture 20-22 Examples & Next Courses
Просмотров 2,2 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 20-22 Examples & Next Courses
FaSTrack Hardware Demo (Crazyflie)
Просмотров 966 лет назад
FaSTrack Hardware Demo (Crazyflie)
FaSTrack MATLAB Simulation: 5D Quadrotor Pursuing 3D Planner Using FSM (Fast Sweeping Method)
Просмотров 1516 лет назад
FaSTrack MATLAB Simulation: 5D Quadrotor Pursuing 3D Planner Using FSM (Fast Sweeping Method)
FaSTrack MATLAB Simulation: 10D Quadrotor Pursuing 3D Planner Using RRT
Просмотров 3586 лет назад
FaSTrack MATLAB Simulation: 10D Quadrotor Pursuing 3D Planner Using RRT
EE 221A: Linear Systems Theory, Lecture 20-21
Просмотров 1,9 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 20-21
EE 221A: Linear Systems Theory, Lecture 16b, 17
Просмотров 2,3 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 16b, 17
EE 221A: Linear Systems Theory, Lecture 17
Просмотров 2 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 17
EE 221A: Linear Systems Theory, Lecture 15b, 16a
Просмотров 1,9 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 15b, 16a
EE 221A: Linear Systems Theory, Lecture 14b, 15a
Просмотров 1,7 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 14b, 15a
EE 221A: Linear Systems Theory, Lecture 13c, 14a
Просмотров 1,7 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 13c, 14a
EE 221A: Linear Systems Theory, Lecture 13b
Просмотров 2,1 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 13b
EE 221A: Linear Systems Theory, Lecture 13
Просмотров 1,9 тыс.6 лет назад
EE 221A: Linear Systems Theory, Lecture 13
EECS Module 15 Dynamical Systems
Просмотров 1,7 тыс.6 лет назад
EECS Module 15 Dynamical Systems
EE221A: Linear Systems Theory, Cayley Hamilton Theorem
Просмотров 1,7 тыс.6 лет назад
EE221A: Linear Systems Theory, Cayley Hamilton Theorem

Комментарии

  • @DwaitBhatt
    @DwaitBhatt 10 месяцев назад

    This was the most engaging talk on AI safety that I've seen so far. Love it!

  • @YizhanGu
    @YizhanGu 11 месяцев назад

    Thank you

  • @CreativeMohit369
    @CreativeMohit369 Год назад

    Thank you Ma'am, please also tell that how to get the solution if we have a Non-Linear Time Varying System?

  • @felyr
    @felyr Год назад

    Wake up neo

  • @jessel9389
    @jessel9389 Год назад

    This saved my life - A comment from UCSD

  • @MuhammadInaamSufi
    @MuhammadInaamSufi 2 года назад

    I want to work on linear system theory

  • @professorpal4489
    @professorpal4489 3 года назад

    Is the last outcome favourable?

    • @leiqin5756
      @leiqin5756 3 года назад

      I think yes, the robot dynamically changed from goal1 to goal2 and it attained the goal.

  • @ravikhandelwal2996
    @ravikhandelwal2996 4 года назад

    Thank you ma'am, your teaching style is awesome

  • @Rahulsharma-rg8ce
    @Rahulsharma-rg8ce 4 года назад

    at 15: 30 why it is a unique solution ? if there are multiple bs for which a Vector V can be obtained in R(A) ?

  • @quantabot1165
    @quantabot1165 4 года назад

    Thank You, This is very simple and clear.

  • @muhammadbilalshahid8010
    @muhammadbilalshahid8010 4 года назад

    The 9th module is missing.

  • @mcornejo51
    @mcornejo51 4 года назад

    Why is AAstar Hermitian?

  • @jamesbyrd405
    @jamesbyrd405 4 года назад

    Thanks🤙🏼

  • @nicolasbamamou94
    @nicolasbamamou94 4 года назад

    I'm following this control engineering course since Peking and I love these lectures. Thanks a million Professor

  • @MrIchWarEsNicht
    @MrIchWarEsNicht 4 года назад

    Hello, I am studying physics ( 3. Semester ) and wanted to ask, have you any idea where this method can be applied in undergrade physics? It look verry interesting to me. Does this have any aplications in Quantum Physics?

  • @mohamedelwany4591
    @mohamedelwany4591 4 года назад

    Excellent. Thank you very much

  • @taiwopeter7775
    @taiwopeter7775 5 лет назад

    Can someone explain further, how A{b1} becomes [2;-1;0].

  • @Easy_Living24
    @Easy_Living24 5 лет назад

    Thank you.

  • @indu7311
    @indu7311 5 лет назад

    I cant find any book to follow with this awesome series...please if someome knows, help me.

    • @sunkist848
      @sunkist848 2 года назад

      Were you able to find any book to follow along with?

    • @ahmetgocmen4889
      @ahmetgocmen4889 Год назад

      @@sunkist848 I think it follows "A Second Course on Linear Systems" by C. A. Desoer. It is hard to find but his other book "Linear System Theory" is the expanded version of it.

  • @carlosperez-guerra2252
    @carlosperez-guerra2252 6 лет назад

    I think so, I think Hilbert Spaces and inner product taught in between. Recommend have a look at Lorenzo Sadun's explanation of Hilbert Spaces then come back.

  • @hvincent1106
    @hvincent1106 6 лет назад

    I find it to be a real pity that this video only has 200++ views. Its really really informative and deserves more views and likes!

  • @hvincent1106
    @hvincent1106 6 лет назад

    HI, love your lectures, they are very well explained and elaborated. One thing that got me curious, if it is possible to get the lecture notes on this course?

  • @Haider90
    @Haider90 6 лет назад

    Let ∈C^(m×n), B∈C^(n×q), C∈C^(m×n), D∈C^(n×q) be given.When are each of the matrix equations AX=C,XB=D solvable for X∈C^(m×n).when are the solution unique?solution of this problem

  • @Haider90
    @Haider90 6 лет назад

    Let ∈C^(m×n), B∈C^(n×q), C∈C^(m×n), D∈C^(n×q) be given.When are each of the matrix equations AX=C,XB=D solvable for X∈C^(m×n).when are the solution unique?also solution of this problem

  • @lazyboi2014
    @lazyboi2014 6 лет назад

    Why is here only a few likes?? She is the one god sent to help us....

  • @lazyboi2014
    @lazyboi2014 6 лет назад

    really good explanation!

  • @kvotheosem-sangue
    @kvotheosem-sangue 6 лет назад

    I'm watching all of the playlist and so far the subject is very well explained, I wonder why the videos aren't getting the many views that they deserve.

  • @howardFL
    @howardFL 6 лет назад

    1:04:10

  • @livingroomtv9591
    @livingroomtv9591 6 лет назад

    The 9th module is missing.

  • @livingroomtv9591
    @livingroomtv9591 6 лет назад

    Is there a missing lecture on inner products? The previous lecture was on Induced Norms

    • @MrSuryapratim
      @MrSuryapratim 4 года назад

      Probably a year too late... but a lot of the material in the missing lecture (and this one) can be found here as a pdf: %20inst.eecs.berkeley.edu/~ee221a/fa19/lectures/lecture4.pdf

    • @ahmetgocmen4889
      @ahmetgocmen4889 Год назад

      @@MrSuryapratim It is not working anymore. So, here is one working ucb-ee106.github.io/106b-sp23site/assets/Linear_Systems___Professor_Ma.pdf.

  • @masoodnajafikia8171
    @masoodnajafikia8171 6 лет назад

    simple, clear, straightforward! only that the Simple R3 space, had left-handed-coordinates.

  •  6 лет назад

    Thank you

  • @closingtheloop2593
    @closingtheloop2593 6 лет назад

    Very clear. Well done.

  • @wajidalikhan7933
    @wajidalikhan7933 6 лет назад

    i am starting this course today.... hoping to learn a lot from you...

  • @almalik123456789
    @almalik123456789 7 лет назад

    This lecture was extremely helpful, thanks a lot.