Publications | Christopher Iliffe Sprague

2024

Stable Autonomous Flow Matching

Christopher Iliffe Sprague, Arne Elofsson, and Hossein Azizpour

In submission, 2024

arXiv Bib

@inproceedings{sprague2024stableaf,
  title = {Stable Autonomous Flow Matching},
  author = {Sprague, Christopher Iliffe and Elofsson, Arne and Azizpour, Hossein},
  year = {2024},
  booktitle = {submission}
}

2023

An Extended Convergence Result for Behavior Tree Controllers

Christopher Iliffe Sprague, and Petter Ögren

In submission, 2023

Bib HTML

@article{sprague2022extended,
  title = {An Extended Convergence Result for Behavior Tree Controllers},
  author = {Sprague, Christopher Iliffe and {\"O}gren, Petter},
  year = {2023},
  journal = {In submission},
}

2022

Adding neural network controllers to behavior trees without destroying performance guarantees

Christopher Iliffe Sprague, and Petter Ögren

In 2022 IEEE 61st Conference on Decision and Control (CDC), 2022

arXiv Bib HTML

@inproceedings{sprague2022adding,
  title = {Adding neural network controllers to behavior trees without destroying performance guarantees},
  author = {Sprague, Christopher Iliffe and {\"O}gren, Petter},
  booktitle = {2022 IEEE 61st Conference on Decision and Control (CDC)},
  pages = {3989--3996},
  year = {2022},
  organization = {IEEE},
}

Behavior Trees in Robot Control Systems

Petter Ögren, and Christopher Iliffe Sprague

Annual Review of Control, Robotics, and Autonomous Systems, 2022

arXiv Bib HTML

@article{ogren2022behavior,
  title = {Behavior Trees in Robot Control Systems},
  author = {{\"O}gren, Petter and Sprague, Christopher Iliffe},
  journal = {Annual Review of Control, Robotics, and Autonomous Systems},
  volume = {5},
  pages = {81--107},
  year = {2022},
  publisher = {Annual Reviews},
}

Fully-probabilistic terrain modelling and localization with stochastic variational gaussian process maps

Ignacio Torroba, Christopher Iliffe Sprague, and John Folkesson

IEEE Robotics and Automation Letters, 2022

Bib HTML

@article{torroba2022fully,
  title = {Fully-probabilistic terrain modelling and localization with stochastic variational gaussian process maps},
  author = {Torroba, Ignacio and Sprague, Christopher Iliffe and Folkesson, John},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {4},
  pages = {8729--8736},
  year = {2022},
  publisher = {IEEE},
}

A system for autonomous seaweed farm inspection with an underwater robot

Ivan Stenius, John Folkesson, Sriharsha Bhat, Christopher Iliffe Sprague, Li Ling, Özer Özkahraman, Nils Bore, Zheng Cong, Josefine Severholt, Carl Ljung, and others

Sensors, 2022

Bib HTML

@article{stenius2022system,
  title = {A system for autonomous seaweed farm inspection with an underwater robot},
  author = {Stenius, Ivan and Folkesson, John and Bhat, Sriharsha and Sprague, Christopher Iliffe and Ling, Li and {\"O}zkahraman, {\"O}zer and Bore, Nils and Cong, Zheng and Severholt, Josefine and Ljung, Carl and others},
  journal = {Sensors},
  volume = {22},
  number = {13},
  pages = {5064},
  year = {2022},
  publisher = {MDPI},
}

Efficient and Trustworthy Artificial Intelligence for Critical Robotic Systems

Christopher Iliffe Sprague

Kungliga Tekniska högskolan, 2022

Bib HTML

@phdthesis{sprague2022efficient,
  title = {Efficient and Trustworthy Artificial Intelligence for Critical Robotic Systems},
  author = {Sprague, Christopher Iliffe},
  year = {2022},
  school = {Kungliga Tekniska h{\"o}gskolan},
}

2021

Continuous-time behavior trees as discontinuous dynamical systems

Christopher Iliffe Sprague, and Petter Ögren

IEEE Control Systems Letters, 2021

arXiv Bib HTML

@article{sprague2021continuous,
  title = {Continuous-time behavior trees as discontinuous dynamical systems},
  author = {Sprague, Christopher Iliffe and {\"O}gren, Petter},
  journal = {IEEE Control Systems Letters},
  volume = {6},
  pages = {1891--1896},
  year = {2021},
  publisher = {IEEE},
}

2020

PointNetKL: Deep inference for GICP covariance estimation in bathymetric SLAM

Ignacio Torroba, Christopher Iliffe Sprague, Nils Bore, and John Folkesson

IEEE Robotics and Automation Letters, 2020

arXiv Bib HTML

@article{torroba2020pointnetkl,
  title = {PointNetKL: Deep inference for GICP covariance estimation in bathymetric SLAM},
  author = {Torroba, Ignacio and Sprague, Christopher Iliffe and Bore, Nils and Folkesson, John},
  journal = {IEEE Robotics and Automation Letters},
  volume = {5},
  number = {3},
  pages = {4078--4085},
  year = {2020},
  publisher = {IEEE},
}

A cyber-physical system for hydrobatic auvs: system integration and field demonstration

Sriharsha Bhat, Ignacio Torroba, Özer Özkahraman, Nils Bore, Christopher Iliffe Sprague, Yiping Xie, Ivan Stenius, Josefine Severholt, Carl Ljung, John Folkesson, and others

In 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020

Bib HTML

@inproceedings{bhat2020cyber,
  title = {A cyber-physical system for hydrobatic auvs: system integration and field demonstration},
  author = {Bhat, Sriharsha and Torroba, Ignacio and {\"O}zkahraman, {\"O}zer and Bore, Nils and Sprague, Christopher Iliffe and Xie, Yiping and Stenius, Ivan and Severholt, Josefine and Ljung, Carl and Folkesson, John and others},
  booktitle = {2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)},
  pages = {1--8},
  year = {2020},
  organization = {IEEE},
}

Learning how to learn bathymetry

Christopher Iliffe Sprague, and Petter Ögren

In 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020

Bib HTML

@inproceedings{sprague2020learning,
  title = {Learning how to learn bathymetry},
  author = {Sprague, Christopher Iliffe and {\"O}gren, Petter},
  booktitle = {2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)},
  pages = {1--2},
  year = {2020},
  organization = {IEEE},
}

Learning dynamic-objective policies from a class of optimal trajectories

Christopher Iliffe Sprague, Dario Izzo, and Petter Ögren

In 2020 59th IEEE Conference on Decision and Control (CDC), 2020

arXiv Bib HTML

@inproceedings{sprague2020learninh,
  title = {Learning dynamic-objective policies from a class of optimal trajectories},
  author = {Sprague, Christopher Iliffe and Izzo, Dario and {\"O}gren, Petter},
  booktitle = {2020 59th IEEE Conference on Decision and Control (CDC)},
  pages = {597--602},
  year = {2020},
  organization = {IEEE},
}

2019

Machine learning and evolutionary techniques in interplanetary trajectory design

Dario Izzo, Christopher Iliffe Sprague, and Dharmesh Vijay Tailor

Modeling and Optimization in Space Engineering: State of the Art and New Challenges, 2019

arXiv Bib

@article{izzo2019machine,
  title = {Machine learning and evolutionary techniques in interplanetary trajectory design},
  author = {Izzo, Dario and Sprague, Christopher Iliffe and Tailor, Dharmesh Vijay},
  journal = {Modeling and Optimization in Space Engineering: State of the Art and New Challenges},
  pages = {191--210},
  year = {2019},
  publisher = {Springer International Publishing},
}

2018

Improving the modularity of auv control systems using behaviour trees

Christopher Iliffe Sprague, Özer Özkahraman, Andrea Munafo, Rachel Marlow, Alexander Phillips, and Petter Ögren

In 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 2018

arXiv Bib

@inproceedings{sprague2018improving,
  title = {Improving the modularity of auv control systems using behaviour trees},
  author = {Sprague, Christopher Iliffe and {\"O}zkahraman, {\"O}zer and Munafo, Andrea and Marlow, Rachel and Phillips, Alexander and {\"O}gren, Petter},
  booktitle = {2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV)},
  pages = {1--6},
  year = {2018},
  organization = {IEEE},
}

2016

Modelling and Simulation of Autonomous CubeSats for Orbital Debris Mitigation

Christopher Iliffe Sprague

In 6th International Conference on Astrodynamics Tools and Techniques, 2016

Bib HTML

@inproceedings{sprague2016modelling,
  title = {Modelling and Simulation of Autonomous CubeSats for Orbital Debris Mitigation},
  author = {Sprague, Christopher Iliffe},
  booktitle = {6th International Conference on Astrodynamics Tools and Techniques},
  year = {2016},
  organization = {European Space Agency},
}