Archived Projects
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Adaptive Quadrotor Control
We are interested in producing a trajectory for an aerial robot with a suspended load that delivers the load to a destination in a swing-free fashion while avoiding static obstacles.
Through the integration of sampling-based motion planning and reinforcement learning, we are able to quickly find swing-free, collision-free paths for these UAVs.
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Protein Binding Site Flexibility
Using motion planning techniques and dynamics simulation, we have investigated molecular binding.
We are specifically interested in immune system complexes that show wide affinity to a variety of peptides including T-Cell Receptors and Major Histocompatibility Complex.
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Archived Publications & Papers
- Aleksandra Faust, Hao-Tien Chiang, Nathanael Rackley, Lydia Tapia, "Avoiding Moving Obstacles with Stochastic Hybrid Dynamics using PEARL:PrEference Appraisal Reinforcement Learning", In Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 484-490, Stockholm, Sweeden, May 2016. (pdf, Bibtex)
- Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Aerial Suspendend Cargo Delivery through Reinforcement Learning", Artificial Intelligence Journal Special Issue on Learning and Robotic, 247, June 2017. (Bibtex)
- Aleksandra Faust, Hao-Tien Chiang, Nathanael Rackley, Lydia Tapia, "Dynamic Obstacle Avoidance with PEARL: PrEference Appraisal Reinforcement Learning", In International Conference on Robotics and Automation (ICRA), pp. 484-490, Hamburg, Germany, Sept. 2015. (pdf, Bibtex)
- Aleksandra Faust, Nick Malone, Lydia Tapia, "Preference-balancing motion planning under stochastic disturbances", In Proc. IEEE International Conference on Robotics and Automation (ICRA), page 3555-3562, Seattle, WA, U.S.A., May 2015. (pdf, Bibtex)
- Aleksandra Faust, Nick Malone, Lydia Tapia, "Planning Preference-balancing Motions with Stochastic Disturbances", Machine Learning in Planning and Control of Robot Motion Workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, U.S.A., Sep. 2014.
(pdf, BibTex, abstract)
- Aleksandra Faust, Peter Ruymgaart, Molly Salman, Rafael Fierro, Lydia Tapia, "Continuous Action Reinforcement Learning for Control-Affine Systems with Unknown Dynamics", Acta Automatica Sinica Special Issue of Extensions of Reinforcement Learning and Adaptive Control, 1(3) pp. 323-336, July 2014. Also, Technical Report TR13-002, Department of Computer Science, University of New Mexico, June 2014.
(pdf, BibTex, abstract, Video) Technical Report( pdf)
- Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Aerial Suspended Cargo Delivery through Reinforcement Learning", Artifical Intelligence Journal 247 Special Issue on Leaning and Robotics, pp. 381-398, June 2015. Also, Technical Report TR13-001, Department of Computer Science, University of New Mexico, Aug. 2013.
(pdf, abstract, Video)
- Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Learning Swing-free Trajectories for UAVs with a Suspended Load," IEEE International Conference on Robotics and Automation (ICRA), pp. 4887-4894, Karlsruhe, Germany, May 2013.
(pdf, BibTex, abstract, Video, Matlab source code, presentation)
- Ivana Palunko, Aleksandra Faust, Patricio Cruz, Lydia Tapia, Rafael Fierro, "A Reinforcement Learning Approach to Suspended Load Manipulation with Aerial Robots," IEEE International Conference on Robotics and Automation (ICRA), pp. 4881-4886, Karlsruhe, Germany, May 2013.
(pdf, BibTex, abstract)
- Rafael Figueroa, Aleksandra Faust, Patricio Cruz, Lydia Tapia, Rafael Fierro, "Reinforcement Learning for Balancing a Flying Inverted Pendulum", In Proc. The 11th World Congress on Intelligent Control and Automation (WCICA), pp. 3555-3562, Shenyang, China, July 2014.
(pdf, BibTex, abstract, Video)
- Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Learning Swing-free Trajectories for UAVs with a Suspended Load in Obstacle-free Environments", Autonomous Learning workshop at IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013. (pdf)
