29 citations · 160 across the 58 of their papers we have counts for
5 papers · 1 filter
Probabilistically safe controllers based on control barrier functions and scenario model predictive control
Allan Andre do Nascimento, Antonis Papachristodoulou, Kostas Margellos
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor perfo…
Finite sample learning of moving targets
Nikolaus Vertovec, Kostas Margellos, Maria Prandini
We consider a moving target that we seek to learn from samples. Our results extend randomized techniques developed in control and optimization for a constant target to the case whe…
Safe and Stable Filter Design Using a Relaxed Compatibitlity Control Barrier -- Lyapunov Condition
Han Wang, Kostas Margellos, Antonis Papachristodoulou
In this paper, we propose a quadratic programming-based filter for safe and stable controller design, via a Control Barrier Function (CBF) and a Control Lyapunov Function (CLF). Ou…
Robust optimization for adversarial learning with finite sample complexity guarantees
André Bertolace, Konstatinos Gatsis, Kostas Margellos
Decision making and learning in the presence of uncertainty has attracted significant attention in view of the increasing need to achieve robust and reliable operations. In the cas…
Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints
Han Wang, Kostas Margellos, Antonis Papachristodoulou +1
We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single…