Silvio Ferrari

An adaptive spiking neural controller for flapping insect-scale robots

2017

Insect-scale flapping robots are challenging to stabilize due to their fast dynamics, unmodeled parameter variations, and the periodic nature of their control input. Effective controller designs must tolerate wing asymmetries that occur due to manufacturing …

Rumor-robust Decentralized Gaussian Process Learning, Fusion, and Planning for Modeling Multiple Moving Targets

2020 · arXiv (Cornell University)

This paper presents a decentralized Gaussian Process (GP) learning, fusion, and planning (RESIN) formalism for mobile sensor networks to actively learn target motion models. RESIN is characterized by both computational and communication efficiency, and the …