Ian Abraham

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Citations	817	765
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Todd D MurpheyProfessor of Mechanical Engineering, Northwestern UniversityVerified email at u.northwestern.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
Howie ChosetProfessor of Robotics, Carnegie MellonVerified email at cs.cmu.edu
Mitra J. HartmannProfessor, Biomedical Engineering and Mechanical Engineering, Northwestern UniversityVerified email at northwestern.edu
Anastasia MavrommatiMathWorksVerified email at mathworks.com
Giorgos MamakoukasMotionalVerified email at u.northwestern.edu
Emmanouil TzorakoleftherakisMathWorksVerified email at mathworks.com
Allison PinoskyCenter for Robotics and Biosystems at Northwestern UniversityVerified email at u.northwestern.edu
Nathan RatliffNVIDIAVerified email at nvidia.com
Kendall LowreyUniversity of WashingtonVerified email at cs.washington.edu
Ankur HandaPrincipal Research Scientist, NVIDIAVerified email at doc.ic.ac.uk
Dieter FoxUniversity of Washington and NVIDIAVerified email at cs.washington.edu
Nadina O. ZweifelNorthwestern UniversityVerified email at northwestern.edu
Jingang YiProfessor, Department of Mechanical and Aerospace Engineering, Rutgers UniversityVerified email at rutgers.edu
Cameron J. LerchYale UniversityVerified email at yale.edu
Guillaume SartorettiAssistant Professor, National University of Singapore (NUS), Mechanical Engineering DptVerified email at nus.edu.sg
Thomas A. BerruetaPh.D. Candidate and Presidential Fellow, Northwestern UniversityVerified email at u.northwestern.edu
Nicholas E BushSeattle Children's Research InstituteVerified email at seattlechildrens.org

Ian Abraham

Assistant Professor In Mechanical Engineering, 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	156	2019
Model-Based Control Using Koopman Operators I Abraham, G De La Torre, TD Murphey Robotics: Science and Systems, 2017	128	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	97	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	46	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	40	2018
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	35	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	34	2017
Learning stable models for prediction and control G Mamakoukas, I Abraham, TD Murphey IEEE Transactions on Robotics, 2023	32	2023
Model predictive control of buoyancy propelled autonomous underwater glider I Abraham, J Yi 2015 American Control Conference (ACC), 1181-1186, 2015	31	2015
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	27	2021
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	25	2015
Learning data-driven stable Koopman operators G Mamakoukas, I Abraham, TD Murphey Free radical biology & medicine., 2020	24	2020
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	15	2020
Data-Driven Measurement Models for Active Localization in Sparse Environments I Abraham, A Mavrommati, TD Murphey Robotics: Science and Systems, 2018	15	2018
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	11	2020
Structured neural network dynamics for model-based control A Broad, I Abraham, T Murphey, B Argall Learning and Inference in Robotics -- Robotics: Science and Systems, 2018	11	2018
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	10	2021
Experimental applications of the Koopman operator in active learning for control TA Berrueta, I Abraham, T Murphey The Koopman Operator in Systems and Control: Concepts, Methodologies, and …, 2020	10	2020
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	9	2023
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions C Lerch, D Dong, I Abraham arXiv preprint arXiv:2211.04310, 2022	9	2022

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