Intelligent Autonomy Lab A robotics, learning, and controls research lab at Yale University.

Research

Robotic systems have the potential to enhance our way of life and solve some of the world’s most difficult problems—but in doing so they encounter situations unanticipated by the robot designer and software developer. Robots need to be equipped with mechanisms that allow them to respond to the unknown reliably to guarantees their success.

We are interested in discovering principles for robots to adapt and learn in real-time through negotiating and responding to their environment. Specifically, our research seeks to analyze and discover principled methods that enable robots to curiously explore, interact, and learn in novel scenarios with minimal data, compute, and with strong performance and reliability guarantees.

Publications

2024

Time-optimal ergodic search: Multiscale coverage in minimum time
Time-optimal ergodic search: Multiscale coverage in minimum time
Dayi Ethan Dong, Henry Berger, Ian Abraham
The International Journal of Robotics Research   ·   08 Oct 2024   ·   doi:10.1177/02783649241273597
Scale-Invariant Specifications for Human–Swarm Systems
Scale-Invariant Specifications for Human–Swarm Systems
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa Taylor, ..., Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey
IEEE Transactions on Field Robotics   ·   01 Jan 2024   ·   doi:10.55417/fr.2023011
multi-robot ergodic control ergodicitys human-robot interaction
Scale-Invariant Specifications for Human–Swarm Systems
Scale-Invariant Specifications for Human–Swarm Systems
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa Taylor, ..., Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey
IEEE Transactions on Field Robotics   ·   01 Jan 2024   ·   doi:10.1109/TFR.2024.3494721

2023

A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search
A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Bhaskar Vundurthy, Ian Abraham, Howie Choset
IEEE Transactions on Robotics   ·   01 Oct 2023   ·   doi:10.1109/TRO.2023.3284358
optimization multi-objective optimization ergodic search ergodicity
Time Optimal Ergodic Search
Time Optimal Ergodic Search
Dayi Dong, Henry Berger, Ian Abraham
Robotics: Science and Systems XIX   ·   13 Jul 2023   ·   doi:10.15607/RSS.2023.XIX.082
In this paper, we investigate solutions to the time-optimal ergodic search problem for fast and adaptive robotic search and exploration.
Code
RSS Talk
time optimal coverage ergodicity ergodic control
Learning Stable Models for Prediction and Control
Learning Stable Models for Prediction and Control
Giorgos Mamakoukas, Ian Abraham, Todd D. Murphey
IEEE Transactions on Robotics   ·   01 Jun 2023   ·   doi:10.1109/TRO.2022.3228130
Koopman operator theory optimal control learning

2022

Hybrid control for combining model-based and model-free reinforcement learning
Hybrid control for combining model-based and model-free reinforcement learning
Allison Pinosky, Ian Abraham, Alexander Broad, Brenna Argall, Todd D Murphey
The International Journal of Robotics Research   ·   02 Jun 2022   ·   doi:10.1177/02783649221083331
Learning Cooperative Multi-Agent Policies With Partial Reward Decoupling
Learning Cooperative Multi-Agent Policies With Partial Reward Decoupling
Benjamin Freed, Aditya Kapoor, Ian Abraham, Jeff Schneider, Howie Choset
IEEE Robotics and Automation Letters   ·   01 Apr 2022   ·   doi:10.1109/LRA.2021.3135930

2021

An Ergodic Measure for Active Learning From Equilibrium
An Ergodic Measure for Active Learning From Equilibrium
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
IEEE Transactions on Automation Science and Engineering   ·   01 Jul 2021   ·   doi:10.1109/TASE.2020.3043636

2020

Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
Ian Abraham, Ankur Handa, Nathan Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
IEEE Robotics and Automation Letters   ·   01 Apr 2020   ·   doi:10.1109/LRA.2020.2972836

2019

Active Learning of Dynamics for Data-Driven Control Using Koopman Operators
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators
Ian Abraham, Todd D. Murphey
IEEE Transactions on Robotics   ·   01 Oct 2019   ·   doi:10.1109/TRO.2019.2923880

2018

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems
Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems
Ian Abraham, Todd D. Murphey
IEEE Robotics and Automation Letters   ·   01 Oct 2018   ·   doi:10.1109/LRA.2018.2849588
Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration
Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration
Anastasia Mavrommati, Emmanouil Tzorakoleftherakis, Ian Abraham, Todd D. Murphey
IEEE Transactions on Robotics   ·   01 Feb 2018   ·   doi:10.1109/TRO.2017.2766265