Ian Abraham

Publication Activity (10 Years)

Years Active: 1997-2024
Publications (10 Years): 56

Top Topics

Shape Estimation

Predictive Control

Depth Perception

Legged Locomotion

Top Venues

Robotics: Science and Systems

IEEE Trans. Robotics

IEEE Robotics Autom. Lett.

Publications

Adam Seewald, Marvin Chancán, Connor M. McCann, Seonghoon Noh, Omeed Fallahi, Hector Castillo, Ian Abraham, Aaron M. Dollar
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware. CoRR (2024)
Henry P. Berger, Ian Abraham
RAnGE: Reachability Analysis for Guaranteed Ergodicity. CoRR (2024)
Adam Seewald, Marvin Chancán, Connor M. McCann, Seonghoon Noh, Omeed Fallahi, Hector Castillo, Ian Abraham, Aaron M. Dollar
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware. ICRA (2024)
Darrick Lee, Cameron Lerch, Fabio Ramos, Ian Abraham
Stein Variational Ergodic Search. CoRR (2024)
Adam Seewald, Cameron J. Lerch, Marvin Chancán, Aaron M. Dollar, Ian Abraham
Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints. ICRA (2024)
Akshaya Kesarimangalam Srinivasan, Geordan Gutow, Zhongqiang Ren, Ian Abraham, Bhaskar Vundurthy, Howie Choset
Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound. IROS (2023)
Cameron Lerch, Dayi Dong, Ian Abraham
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions. ICRA (2023)
Elena Wittemyer, Ian Abraham
Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers. CoRR (2023)
Allison Pinosky, Ian Abraham, Alexander Broad, Brenna Argall, Todd D. Murphey
Hybrid control for combining model-based and model-free reinforcement learning. Int. J. Robotics Res. 42 (6) (2023)
Marvin Chancán, Alex Wong, Ian Abraham
DEUX: Active Exploration for Learning Unsupervised Depth Perception. CoRR (2023)
Giorgos Mamakoukas, Ian Abraham, Todd D. Murphey
Learning Stable Models for Prediction and Control. IEEE Trans. Robotics 39 (3) (2023)
Adam Seewald, Cameron J. Lerch, Marvin Chancán, Aaron M. Dollar, Ian Abraham
Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints. CoRR (2023)
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva, Shane Clark, Todd D. Murphey
Scale-Invariant Specifications for Human-Swarm Systems. Field Robotics 3 (1) (2023)
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Bhaskar Vundurthy, Ian Abraham, Howie Choset
A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search. IEEE Trans. Robotics 39 (5) (2023)
Dayi Dong, Henry Berger, Ian Abraham
Time Optimal Ergodic Search. CoRR (2023)
Dayi E. Dong, Henry P. Berger, Ian Abraham
Time Optimal Ergodic Search. Robotics: Science and Systems (2023)
Elena Wittemyer, Ian Abraham
Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers. IROS (2023)
Ananya Rao, Ian Abraham, Guillaume Sartoretti, Howie Choset
Sparse Sensing in Ergodic Optimization. DARS (2022)
Muchen Sun, Allison Pinosky, Ian Abraham, Todd D. Murphey
Scale-Invariant Fast Functional Registration. ISRR (2022)
Howard Coffin, Ian Abraham, Guillaume Sartoretti, Tyler Dillstrom, Howie Choset
Multi-Agent Dynamic Ergodic Search with Low-Information Sensors. ICRA (2022)
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva, Shane Clark, Todd D. Murphey
Scale-Invariant Specifications for Human-Swarm Systems. CoRR (2022)
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, Howie Choset
A Local Optimization Framework for Multi-Objective Ergodic Search. CoRR (2022)
Olalekan Ogunmolu, Ian Abraham, Sylvia L. Herbert
A Cauchy-type Hamilton-Jacobi Successive Approximation Scheme For Reachable Sets Computation. CoRR (2022)
Benjamin Freed, Aditya Kapoor, Ian Abraham, Jeff G. Schneider, Howie Choset
Learning Cooperative Multi-Agent Policies With Partial Reward Decoupling. IEEE Robotics Autom. Lett. 7 (2) (2022)
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, Howie Choset
A Local Optimization Framework for Multi-Objective Ergodic Search. Robotics: Science and Systems (2022)
Muchen Sun, Allison Pinosky, Ian Abraham, Todd D. Murphey
Scale-Invariant Fast Functional Registration. CoRR (2022)
Cameron Lerch, Ethan Dong, Ian Abraham
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions. CoRR (2022)
Ian Abraham, Alexander Broad, Allison Pinosky, Brenna Argall, Todd D. Murphey
Hybrid Control for Learning Motor Skills. WAFR (2021)
Maurice Rahme, Ian Abraham, Matthew L. Elwin, Todd D. Murphey
Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain. IROS (2021)
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
An Ergodic Measure for Active Learning From Equilibrium. IEEE Trans Autom. Sci. Eng. 18 (3) (2021)
Benjamin Freed, Aditya Kapoor, Ian Abraham, Jeff G. Schneider, Howie Choset
Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling. CoRR (2021)
Maurice Rahme, Ian Abraham, Matthew L. Elwin, Todd D. Murphey
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion. CoRR (2020)
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
An Ergodic Measure for Active Learning From Equilibrium. CoRR (2020)
Ian Abraham, Alexander Broad, Allison Pinosky, Brenna Argall, Todd D. Murphey
Hybrid Control for Learning Motor Skills. CoRR (2020)
Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. CoRR (2020)
Alexander Broad, Ian Abraham, Todd D. Murphey, Brenna Argall
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems. CoRR (2020)
Alexander Broad, Ian Abraham, Todd D. Murphey, Brenna Argall
Data-driven Koopman operators for model-based shared control of human-machine systems. Int. J. Robotics Res. 39 (9) (2020)
Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. IEEE Robotics Autom. Lett. 5 (2) (2020)
Ahalya Prabhakar, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva, Shane Clark, Todd D. Murphey
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation. Robotics: Science and Systems (2020)
Giorgos Mamakoukas, Ian Abraham, Todd D. Murphey
Learning Data-Driven Stable Koopman Operators. CoRR (2020)
Ahalya Prabhakar, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva, Shane Clark, Todd D. Murphey
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation. CoRR (2020)
Ian Abraham, Todd D. Murphey
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators. IEEE Trans. Robotics 35 (5) (2019)
Ian Abraham, Todd D. Murphey
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators. CoRR (2019)
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
Active Area Coverage from Equilibrium. CoRR (2019)
Alexander Broad, Ian Abraham, Todd D. Murphey, Brenna D. Argall
Structured Neural Network Dynamics for Model-based Control. CoRR (2018)
Ian Abraham, Todd D. Murphey
Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multi-Agent Systems. CoRR (2018)
Ian Abraham, Todd D. Murphey
Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems. IEEE Robotics Autom. Lett. 3 (4) (2018)
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
Active Area Coverage from Equilibrium. WAFR (2018)
Ian Abraham, Anastasia Mavrommati, Todd D. Murphey
Data-Driven Measurement Models for Active Localization in Sparse Environments. Robotics: Science and Systems (2018)
Ian Abraham, Anastasia Mavrommati, Todd D. Murphey
Data-Driven Measurement Models for Active Localization in Sparse Environments. CoRR (2018)
Anastasia Mavrommati, Emmanouil Tzorakoleftherakis, Ian Abraham, Todd D. Murphey
Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration. IEEE Trans. Robotics 34 (1) (2018)
Ian Abraham, Gerardo De La Torre, Todd D. Murphey
Model-Based Control Using Koopman Operators. Robotics: Science and Systems (2017)
Ian Abraham, Gerardo De La Torre, Todd D. Murphey
Model-Based Control Using Koopman Operators. CoRR (2017)
Ian Abraham, Ahalya Prabhakar, Mitra J. Z. Hartmann, Todd D. Murphey
Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation. IEEE Robotics Autom. Lett. 2 (2) (2017)
Anastasia Mavrommati, Emmanouil Tzorakoleftherakis, Ian Abraham, Todd D. Murphey
Real-Time Area Coverage and Target Localization using Receding-Horizon Ergodic Exploration. CoRR (2017)
Ian Abraham, Ahalya Prabhakar, Mitra J. Z. Hartmann, Todd D. Murphey
Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation. CoRR (2017)
Ian Abraham, Jingang Yi
Model predictive control of buoyancy propelled autonomous underwater glider. ACC (2015)
Neil A. Thacker, Ian Abraham, Patrick Courtney
Supervised Learning Extensions to the CLAM Network. Neural Networks 10 (2) (1997)