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Ian Abraham
Ian Abraham
Assistant Professor In Mechanical Engineering, Yale University
Verified email at yale.edu - Homepage
Title
Cited by
Cited by
Year
Active learning of dynamics for data-driven control using Koopman operators
I Abraham, TD Murphey
IEEE Transactions on Robotics 35 (5), 1071-1083, 2019
1482019
Model-Based Control Using Koopman Operators
I Abraham, G De La Torre, TD Murphey
Robotics: Science and Systems, 2017
1242017
Real-time area coverage and target localization using receding-horizon ergodic exploration
A Mavrommati, E Tzorakoleftherakis, I Abraham, TD Murphey
IEEE Transactions on Robotics 34 (1), 62-80, 2017
952017
Model-based generalization under parameter uncertainty using path integral control
I Abraham, A Handa, N Ratliff, K Lowrey, TD Murphey, D Fox
IEEE Robotics and Automation Letters 5 (2), 2864-2871, 2020
452020
Decentralized ergodic control: distribution-driven sensing and exploration for multiagent systems
I Abraham, TD Murphey
IEEE Robotics and Automation Letters 3 (4), 2987-2994, 2018
392018
Data-driven Koopman operators for model-based shared control of human–machine systems
A Broad, I Abraham, T Murphey, B Argall
The International Journal of Robotics Research 39 (9), 1178-1195, 2020
332020
Ergodic exploration using binary sensing for nonparametric shape estimation
I Abraham, A Prabhakar, MJZ Hartmann, TD Murphey
IEEE robotics and automation letters 2 (2), 827-834, 2017
332017
Model predictive control of buoyancy propelled autonomous underwater glider
I Abraham, J Yi
2015 American Control Conference (ACC), 1181-1186, 2015
312015
Learning stable models for prediction and control
G Mamakoukas, I Abraham, TD Murphey
IEEE Transactions on Robotics, 2023
302023
An ergodic measure for active learning from equilibrium
I Abraham, A Prabhakar, TD Murphey
IEEE Transactions on Automation Science and Engineering 18 (3), 917-931, 2021
262021
A nonlinear leg damping model for the prediction of running forces and stability
I Abraham, ZH Shen, J Seipel
Journal of Computational and Nonlinear Dynamics 10 (5), 051008, 2015
252015
Learning data-driven stable Koopman operators
G Mamakoukas, I Abraham, TD Murphey
Free radical biology & medicine., 2020
242020
Ergodic specifications for flexible swarm control: From user commands to persistent adaptation
A Prabhakar, I Abraham, A Taylor, M Schlafly, K Popovic, G Diniz, B Teich, ...
Robotics: Science and Systems, 2020
152020
Data-Driven Measurement Models for Active Localization in Sparse Environments
I Abraham, A Mavrommati, TD Murphey
Robotics: Science and Systems, 2018
152018
Structured neural network dynamics for model-based control
A Broad, I Abraham, T Murphey, B Argall
Learning and Inference in Robotics -- Robotics: Science and Systems, 2018
122018
Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain
M Rahme, I Abraham, ML Elwin, TD Murphey
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
102021
Dynamics and domain randomized gait modulation with Bezier curves for sim-to-real legged locomotion
M Rahme, I Abraham, ML Elwin, TD Murphey
arXiv preprint arXiv:2010.12070, 2020
102020
Experimental applications of the Koopman operator in active learning for control
TA Berrueta, I Abraham, T Murphey
The Koopman Operator in Systems and Control: Concepts, Methodologies, and …, 2020
92020
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
C Lerch, D Dong, I Abraham
arXiv preprint arXiv:2211.04310, 2022
82022
A dynamical model for generating synthetic data to quantify active tactile sensing behavior in the rat
NO Zweifel, NE Bush, I Abraham, TD Murphey, MJZ Hartmann
Proceedings of the National Academy of Sciences 118 (27), e2011905118, 2021
82021
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