Jacob Knaup
Jacob Knaup
Robotics PhD Candidate at Georgia Institute of Technology
Robotics PhD Candidate at Georgia Institute of Technology
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My research interests lie at the intersection of stochastic optimization and machine learning. As a robotics PhD candidate in Dr. Panagiotis Tsiotras' lab, I am experienced in developing state-of-the-art motion planning and control approaches for robots and autonomous vehicles. At Georgia Tech, I have also enjoyed teaching students computer vision and deep learning concepts as a teaching assistant, and mentoring teams of undergraduate students working on machine learning projects and performing experiments with robots in our lab. I recently completed an internship at Honda Research Institute, which allowed me to work on a team of researchers developing the state-of-the-art in machine learning and motion planning for autonomous systems. I look forward to developing new innovations and taking part in creating the future of AI.
Selected work
Selected work
Covariance-Controlled Constrained Optimal Estimation
Active Learning with Dual Model Predictive Path Integral Control for Interaction-Aware Autonomous Highway On-Ramp Merging
Publications
Publications
[1] J. Knaup and P. Tsiotras, “Recursively Feasible Stochastic Model Predictive Control for Time-Varying Linear Systems Subject to Unbounded Disturbances,” in Automatica, 2024 (submitted, in-review - arXiv preprint arXiv:2410.11107).
[2] J. Knaup and P. Tsiotras, “Adaptive Dual Covariance Steering with Active Parameter Estimation,” in IEEE Conference on Decision and Control, Milan, Italy, Dec. 16-19, 2024 (accepted, pending publication - arXiv preprint arXiv:2403.15590).
[3] J. Knaup, J. D’sa, B. Chalaki, T. Naes, H. N. Mahjoub, E. Moradi-Pari, and P. Tsiotras, “Active learning with dual model predictive path-integral control for interaction-aware autonomous highway on-ramp merging,” in IEEE International Conference on Robotics and Automation, Yokohama, Japan, May 13-17, 2024 (accepted, pending publication – arXiv preprint arXiv:2310.07840).
[4] J. Knaup and P. Tsiotras, “Covariance Steering for Systems Subject to Unknown Parameters,” in IEEE Conference on Decision and Control, Singapore, Dec. 13-15, 2023.
[5] J. Knaup and P. Tsiotras, “Computationally efficient covariance steering for systems subject to parametric disturbances and chance constraints,” in IEEE Conference on Decision and Control, Singapore, Dec. 13-15, 2023.
[6] J. Knaup, K. Okamoto and P. Tsiotras, "Safe High-Performance Autonomous Off-Road Driving Using Covariance Steering Stochastic Model Predictive Control," in IEEE Transactions on Control Systems Technology, vol. 31, no. 5, pp. 2066-2081, Sept. 2023.
[7] J. W. Knaup and D. M. Aukes, “Design, modeling, and optimization of a hopping robot platform,” in International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, vol. 59230. American Society of Mechanical Engineers, 2019, p. V05AT07A070.
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