Journal Publications
- Elephants Don’t Pack Groceries: Robot Task Planning for Low Entropy Belief States. Alphonsus Adu-Bredu, Zhen Zeng, Neha Pusalkar, Odest Chadwicke Jenkins. IEEE Robotics and Automation Letters ( Volume: 7, Issue: 1, Jan. 2022). [teaser video][paper][arxiv]
- Using Deep Learning to Examine the Relationship between Transportation Policy and Human Perception of the Built Environment. Justin Hollander, Gio Nikolaishvili, Alphonsus Adu-Bredu, Minyu Situ, Shabnam Bista. Environment and Planning B: Urban Analytics and City Science Journal. September 2020. [paper]
Conference Publications
- Optimal Constrained Task Planning as Mixed Integer Programming. Alphonsus Adu-Bredu, Nikhil Devraj, Odest Chadwicke Jenkins. International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022. [teaser video][longer presentation][webpage][arxiv]
- Probabilistic Inference in Planning for Partially Observable Long Horizon Problems. Alphonsus Adu-Bredu, Nikhil Devraj, Pin-Han Lin, Zhen Zeng, Odest Chadwicke Jenkins. International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021. (IROS 2021 Best Paper Award on Mobile Manipulation) [teaser video] [IROS presentation][arxiv]
- Cartbot: A Direct-Manipulation Minimal Degrees-of-Freedom Mobile Assistive Robot to Maximize User Agency. Kentaro Barhydt, Alphonsus Adu-Bredu, Sarah Everhart-Skeels, Gary Bedell, Karen Panetta, William Messner. IEEE International Conference on Human-Machine Systems (ICHMS), Rome, Italy, September 2020. [paper][video]
Pre-prints
- Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots. Alphonsus Adu-Bredu*, Grant Gibson*, Jessy Grizzle [teaser video][paper][webage][summary video]
- GODSAC*: Graph Optimized DSAC* for Robot Relocalization. Alphonsus Adu-Bredu, Noah Del Coro, Tianyi Liu. 2021. arXiv:2105.00546. [paper][teaser video]
- Contact simulation of a 2D Bipedal Robot kicking a ball. Alphonsus Adu-Bredu. [paper]
Talks
- Logical Reasoning as Mathematical Programming[video]
- Iterative Linear Quadratic Regulators [video][slides]
- Optimal Control via Dynamic Programming [slides]
- Hamilton-Jacobi-Bellman Equation and Linear Quadratic Regulators. [video][slides]
- Trajectory Optimization, Model Predictive Control and Differential Flatness. [video][slides]
- Music-evoked Emotions [video][slides]
Interviews
- On the application of Robotics in Manufacturing and Agriculture in Africa – w/ CTN Technologies [video]