14 citations · 69 across the 16 of their papers we have counts for
4 papers · 1 filter
Continuous and discrete abstractions for planning, applied to ship docking
Pierre-Jean Meyer, He Yin, Astrid H. Brodtkorb +2
We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifica…
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…
Continuous Abstraction of Nonlinear Systems using Sum-of-Squares Programming
Stanley W. Smith, He Yin, Murat Arcak
We present a control design procedure for nonlinear control systems in which we represent a potentially high dimensional system with a low dimensional continuous-state abstraction.…
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…