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05/18/2023
The Dilemma of Choice: Addressing Constraint Selection for Autonomous Robotic Agents
The tasks that an autonomous agent is expected to perform are often opti...
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04/05/2023
Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability
We introduce an information measure, termed clarity, motivated by inform...
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03/23/2023
Rate-Tunable Control Barrier Functions: Methods and Algorithms for Online Adaptation
Control Barrier Functions offer safety certificates by dictating control...
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11/25/2022
Safe and Robust Observer-Controller Synthesis using Control Barrier Functions
This paper addresses the synthesis of safety-critical controllers using ...
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11/25/2022
Gatekeeper: Safety Critical Control of Nonlinear Systems with Limited Perception in Unknown and Dynamic Environments
This paper presents the Gatekeeper algorithm, a real-time method to guar...
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09/26/2022
FORESEE: Model-based Reinforcement Learning using Unscented Transform with application to Tuning of Control Barrier Functions
In this paper, we introduce a novel online model-based reinforcement lea...
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04/09/2022
Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent Systems
For efficient and robust task accomplishment in multi-agent systems, an ...
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02/28/2022
Formally verified asymptotic consensus in robust networks
Distributed architectures are used to improve performance and reliabilit...
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12/22/2021
IDCAIS: Inter-Defender Collision-Aware Interception Strategy against Multiple Attackers
This paper presents an Inter-Defender Collision-Aware Interception Strat...
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09/22/2021
Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex Optimization Policies for Safety-Critical Systems
Quadratic programs (QPs) that enforce control barrier functions (CBFs) h...
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07/10/2020
Approximate Time-Optimal Trajectories for Damped Double Integrator in 2D Obstacle Environments under Bounded Inputs
This article provides extensions to existing path-velocity decomposition...
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07/08/2020
Multi-Swarm Herding: Protecting against Adversarial Swarms
This paper studies a defense approach against one or more swarms of adve...
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07/08/2020
Herding an Adversarial Swarm in Three-dimensional Spaces
This paper presents a defense approach to safeguard a protected area aga...
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03/22/2019
A Hybrid Approach to Persistent Coverage in Stochastic Environments
This paper considers the persistent coverage of a 2-D manifold that has ...
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01/30/2019
Determining r- and (r,s)-Robustness of Digraphs Using Mixed Integer Linear Programming
There has been an increase in the use of resilient control algorithms ba...
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10/02/2018
Determining r-Robustness of Arbitrary Digraphs Using Zero-One Linear Integer Programming
There has been an increase in the use of resilient control algorithms ba...
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09/05/2017