Ian Abraham

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Todd D MurpheyProfessor of Mechanical Engineering, Northwestern UniversityVerified email at u.northwestern.edu
Howie ChosetProfessor of Robotics, Carnegie MellonVerified email at cs.cmu.edu
Ahalya PrabhakarYale UniversityVerified email at yale.edu
Alexander BroadBoston DynamicsVerified email at bostondynamics.com
Brenna ArgallNorthwestern University; Rehabilitation Institute of ChicagoVerified email at northwestern.edu
Giorgos MamakoukasMotional, Northwestern UniversityVerified email at u.northwestern.edu
Mitra J. HartmannProfessor, Biomedical Engineering and Mechanical Engineering, Northwestern UniversityVerified email at northwestern.edu
Anastasia MavrommatiMathWorksVerified email at mathworks.com
Allison PinoskyCenter for Robotics and Biosystems at Northwestern UniversityVerified email at u.northwestern.edu
Dayi Ethan DongUniversity of California, BerkeleyVerified email at berkeley.edu
Emmanouil TzorakoleftherakisMathWorksVerified email at mathworks.com
Cameron J. LerchYale UniversityVerified email at yale.edu
Akshaya SrinivasanCarnegie Mellon UniversityVerified email at andrew.cmu.edu
Zhongqiang (Richard) RenAssistant Professor at UM-SJTU Joint Institute, Shanghai Jiao Tong UniversityVerified email at sjtu.edu.cn
Annalisa T. TaylorNorthwestern UniversityVerified email at u.northwestern.edu
Milli SchlaflyNorthwestern UniversityVerified email at u.northwestern.edu
Nathan RatliffNVIDIAVerified email at nvidia.com
Kendall LowreyUniversity of WashingtonVerified email at cs.washington.edu
Ankur HandaPrincipal Scientist, NVIDIAVerified email at doc.ic.ac.uk
Dieter FoxUniversity of Washington and NVIDIAVerified email at cs.washington.edu

Ian Abraham

Assistant Professor In Mechanical Engineering, Computer Science Yale University

Verified email at yale.edu - Homepage

Robotics Control Theory Learning


Title Sort by citations Sort by year Sort by 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	216	2019
Model-Based Control Using Koopman Operators I Abraham, G De La Torre, TD Murphey Robotics: Science and Systems, 2017	155	2017
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	111	2017
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	59	2020
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	55	2018
Learning stable models for prediction and control G Mamakoukas, I Abraham, TD Murphey IEEE Transactions on Robotics 39 (3), 2255-2275, 2023	50	2023
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	46	2020
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	41	2017
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	35	2021
Learning data-driven stable Koopman operators G Mamakoukas, I Abraham, TD Murphey CoRR, 2020	35	2020
Model predictive control of buoyancy propelled autonomous underwater glider I Abraham, J Yi 2015 American Control Conference (ACC), 1181-1186, 2015	32	2015
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	30	2023
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	28	2020
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	28	2015
Time Optimal Ergodic Search D Dong, H Berger, I Abraham Proceedings of Robotics: Science and Systems, 2023	20	2023
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions C Lerch, D Dong, I Abraham arXiv preprint arXiv:2211.04310, 2022	19	2022
Data-Driven Measurement Models for Active Localization in Sparse Environments I Abraham, A Mavrommati, TD Murphey Robotics: Science and Systems, 2018	17	2018
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	15	2022
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	13	2021
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	12	2020

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