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Learning and Introspective Control LINC
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Classroom Contents
Robots in Dynamic Tasks - Learning, Risk, and Safety
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- 1 Introduction
- 2 SQUID I: Key Design Elements
- 3 SQUID II: Vision-based Autonomous Stabilization
- 4 Planetary Exploration Applications
- 5 PARSEC: Payload Anchoring Robotic System for the Exploration of Cliffs Task Motivation and Description
- 6 PARSEC: Aerial Manipulator
- 7 Deployment Interface and Payload Design
- 8 Mission Architecture for Autonomous Deployment
- 9 But what about the real world?
- 10 Machine Learning & Nonlinear Vehicle Control
- 11 Using learned lifted bilinear models for nonlinear MPC
- 12 Learning quadrotor dynamics to improve close-to-ground trajectory tracking
- 13 Learning quadrotor dynamics to improve close-to- ground trajectory tracking performance
- 14 Planning under uncertainty
- 15 Risk-Aware Planning: Chance Constraints
- 16 The DARPA Subterranean Challenge
- 17 STEP: Stochastic Traversability Evaluation and Planning
- 18 Risk-Aware Avoidance of Unknown Dynamic Ostacles
- 19 Robust Risk-Based Learning of Disturbances
- 20 Learning and Introspective Control LINC
