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Ian Abraham
Ian Abraham
Assistant Professor In Mechanical Engineering, Computer Science 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
1912019
Model-Based Control Using Koopman Operators
I Abraham, G De La Torre, TD Murphey
Robotics: Science and Systems, 2017
1432017
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
1032017
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
532020
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
462018
Learning stable models for prediction and control
G Mamakoukas, I Abraham, TD Murphey
IEEE Transactions on Robotics 39 (3), 2255-2275, 2023
422023
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
392020
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
362017
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
332021
Model predictive control of buoyancy propelled autonomous underwater glider
I Abraham, J Yi
2015 American Control Conference (ACC), 1181-1186, 2015
312015
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
282015
Learning data-driven stable Koopman operators
G Mamakoukas, I Abraham, TD Murphey
CoRR, 2020
272020
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
242020
Hybrid control for combining model-based and model-free reinforcement learning
A Pinosky, I Abraham, A Broad, B Argall, TD Murphey
The International Journal of Robotics Research 42 (6), 337-355, 2023
212023
Data-Driven Measurement Models for Active Localization in Sparse Environments
I Abraham, A Mavrommati, TD Murphey
Robotics: Science and Systems, 2018
172018
Time Optimal Ergodic Search
D Dong, H Berger, I Abraham
Proceedings of Robotics: Science and Systems, 2023
162023
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
C Lerch, D Dong, I Abraham
arXiv preprint arXiv:2211.04310, 2022
132022
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
122021
Multi-agent dynamic ergodic search with low-information sensors
H Coffin, I Abraham, G Sartoretti, T Dillstrom, H Choset
2022 International Conference on Robotics and Automation (ICRA), 11480-11486, 2022
112022
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
112020
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Articles 1–20