Chris Ostafew

Ph.D. Candidate (Autonomous Space Robotics Lab, University of Toronto)
B.Eng. (Honours Electrical Engineering, McGill University)

Institute for Aerospace Studies
University of Toronto
4925 Dufferin Street, Room 150B
Toronto, Ontario, Canada
M3H 5T6
chris.ostafew [at] mail.utoronto.ca
office: +1 416-667-7730
fax: +1 416-667-7799
skype: chris.ostafew
Google Scholar

Chris Ostafew

Research • Education • Work • Publications

Research

Husky Rover

I am interested in developing novel learning control strategies to enable online performance improvements of robotic systems based on experience. In many cases, system identification for controller design is a challenging task, especially when trying to account for interactions with unmodelled environmental disturbances. Our approach is to learn these disturbances online and incorporate them either through feed-forward control or model improvements. The techniques are being tested in the context the ASRL Visual Teach and Repeat algorithm, originally developed by Furgale and Barfoot (2010), and the Network of Reusable Paths algorithm, originally developed by Stenning and Barfoot (2011).

Education

Work

Publications

You can also find my publications on Google Scholar.

Journal and Magazine Articles

  1. Mony M., Bisaillon E., Shoukry E., Ostafew C. J., Grondin E., Aimez V., Plant D.V. "Reprogrammable optical phase array." Applied Optics, 46(18): 3724-3729, 2007.

Conference Papers

Full-Paper-Refereed

  1. Ostafew C. J., Schoellig A. P., Barfoot T. D. "Learning-Based Nonlinear Model Predictive Control to Improve Vision-Based Mobile Robot Path-Tracking in Challenging Outdoor Environments." In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014.

  2. Ostafew C. J., Collier, J., Schoellig A. P., Barfoot T. D. "Speed Daemon: Experience-based Mobile Robot Speed Scheduling." In Proceedings of the IEEE International Conference on Computer and Robot Vision (CRV), 2014.

  3. Ostafew C. J., Schoellig A. P., Barfoot T. D. "Visual Teach and Repeat, Repeat, Repeat: Iterative Learning Control to Improve Mobile Robot Path Tracking in Challenging Outdoor Environments." In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2013.

  4. Bisaillon E., Tan D.T.H., Faraji B., Zeng Y., Ostafew C. J., Krishna-Prasad R., Chrostowsky L., Plant D.V. "Resonant Grating Based Fabry-Perot Cavity in AlGaAs/GaAs." In Proceedings of the 19th Annual Meeting of the IEEE Lasers and Electro-Optics Society (LEOS), 2006.

  5. Mony M., Bisaillon E., Shoukry E., Ostafew C. J., Plant D.V. "Reprogrammable Optical Phase Array (ROPA) used as a 1A 6 space switch." In Proceedings of the 19th Annual Meeting of the IEEE Lasers and Electro-Optics Society (LEOS), 2006.

Abstract-Refereed

  1. Berczi L.-P., Ostafew C. J., Stenning B., Barfoot T. D., Jones E., Tornabene L., Osinski G., Daly M. "Place Revisiting and Teleoperation for a Sample-Return Mission Control Architecture." In Proceedings of the International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-Sairas), 2014.