Lekan Ogunmolu


Publications Papers, arXiv submissions, etc

Videos and Talks Invited talks/videos

Open-Source Codes you might find useful.

On the web

Github

Blog

Email: olalekan DOT ogunmolu AT utsouthwestern DOT edu



Talks/Presentations


Open Robotics

Open Robotics 2019
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Workshop on the Algorithm Foundations of Robotics

WAFR 2018
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Research Overview Slides//University of Chicago 2018

Research Overview Slides//University of Chicago 2018
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Research Overview Slides//Stanford 2018

Research Overview Slides//Stanford 2018
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PhD Thesis Proposal Slides

My work to date.
Robotic Radiotherapy: An Adaptive, Optimal Control Approach
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PhD Thesis Proposal Main Matter

My work to date.
Robotic Radiotherapy: An Adaptive, Optimal Control Approach
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IROS 2018 Slides//Madrid

IROS 2018 Slides//Madrid
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Google SoftNeuroAdapt Slides//Mountain View, California

Google SoftNeuroAdapt Slides//Mountain View, California
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A 3-DOF Neuro-Adaptive Patient Positioning SYstem for Frameless and Maskless Cancer Radiotherapy.

University of Texas Southwestern, Physics Research Seminar Series.


Vision-based Control for Head & Neck cancer RT.

IEEE Int'l Conference on Automation Science and Engineering (CASE) 2016 Presentation.


Towards Accurate Automated Maskless Cancer Radiotherapy.

Invited Talk at the 2015 IEEE Computational Intelligence Society, UT Arlington.


Continuous Finite-Time Stabilization of Translational and Rotational Double Integrators
[Beamer Slides]   |  [LaTEX.pdf].


Talks you might find interesting

How to Have a Bad Research Career.
David Patterson, UC Berkeley


Good Citizen of CVPR.
A curated list of talks and videos at CVPR 2018 on how to be a monster researcher.




Demos/Videos

Minimax Iterative Dynamic Game: Application to Nonlinear Robot Control Tasks

Verification of the hypothesis proposed in the 2018 IROS paper:
Minimax Iterative Dynamic Game: Application to Nonlinear Robot Control Tasks
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Guided Policy Search on the PR2 Robot

Simulation of Right Arm Trajectories of the PR2 Robot Arm using the Guided Policy Search algorithm proposed by Finn. et. al. This simulation runs the catkinized ros indigo version (available at of the gps algorithm).   Here, the robot is told to go to a particular set of end-effector points. Its takes roughly 10 iterations and a cost of about -600 before the robot reaches the desired goal.


LiDAR-Based SLAM

This was last Summer's pet project where my colleague, Ben Warwick, and I hacked together node.js, socket.io, Alexa lambda skills, and 3D-printed mounts for the P3-DX robot to make it navigate the AR offices via Alexa voice commands or alternatively via a web-UI.