3 papers
cs.RO2024
Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields
Xuemin Chi, Yiming Li, Jihao Huang +3
Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. Control Barrier Function…
eess.SY2023
State Constrained Stochastic Optimal Control for Continuous and Hybrid Dynamical Systems Using DFBSDE
Bolun Dai, Prashanth Krishnamurthy, Andrew Papanicolaou +1
We develop a computationally efficient learning-based forward-backward stochastic differential equations (FBSDE) controller for both continuous and hybrid dynamical (HD) systems su…
eess.SY2023
Data-Efficient Control Barrier Function Refinement
Bolun Dai, Heming Huang, Prashanth Krishnamurthy +1
Control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, it provides a simple and computat…