383 citations · 852 across the 19 of their papers we have counts for
20 papers
Optimal assignment of collaborating agents in multi-body asset-guarding games
Emmanuel Sin, Murat Arcak, Andrew Packard +2
We study a multi-body asset-guarding game in missile defense where teams of interceptor missiles collaborate to defend a non-manuevering asset against a group of threat missiles. W…
An Introduction to Disk Margins
Peter Seiler, Andrew Packard, Pascal Gahinet
This paper provides a tutorial introduction to disk margins. These are robust stability measures that account for simultaneous gain and phase perturbations in a feedback system. Th…
Optimization Based Planner Tracker Design for Safety Guarantees
He Yin, Monimoy Bujarbaruah, Murat Arcak +1
We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by sol…
Backward Reachability for Polynomial Systems on A Finite Horizon
He Yin, Murat Arcak, Andrew Packard +1
A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories i…
Representing Model Discrepancy in Bound-to-Bound Data Collaboration
Wenyu Li, Arun Hegde, James Oreluk +2
We extended the existing methodology in Bound-to-Bound Data Collaboration (B2BDC), an optimization-based deterministic uncertainty quantification (UQ) framework, to explicitly take…
Robust Control of the Sit-to-Stand Movement for a Powered Lower Limb Orthosis
Octavio Narvaez-Aroche, Pierre-Jean Meyer, Stephen Tu +2
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascendi…