14 citations · 69 across the 16 of their papers we have counts for
6 papers · 1 filter
Imitation Learning with Stability and Safety Guarantees
He Yin, Peter Seiler, Ming Jin +1
A method is presented to learn neural network (NN) controllers with stability and safety guarantees through imitation learning (IL). Convex stability and safety conditions are deri…
Co-design of Control and Planning for Multi-rotor UAVs with Signal Temporal Logic Specifications
Yash Vardhan Pant, He Yin, Murat Arcak +1
Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the…
Stability Analysis using Quadratic Constraints for Systems with Neural Network Controllers
He Yin, Peter Seiler, Murat Arcak
A method is presented to analyze the stability of feedback systems with neural network controllers. Two stability theorems are given to prove asymptotic stability and to compute an…
Passivity-based distributed acquisition and station-keeping control of a satellite constellation in areostationary orbit
Emmanuel Sin, He Yin, Murat Arcak
We present a distributed control law to assemble a cluster of satellites into an equally-spaced, planar constellation in a desired circular orbit about a planet. We assume each sat…
Bayesian Safe Learning and Control with Sum-of-Squares Analysis and Polynomial Kernels
Alex Devonport, He Yin, Murat Arcak
We propose an iterative method to safely learn the unmodeled dynamics of a nonlinear system using Bayesian Gaussian process (GP) models with polynomial kernel functions. The method…
Backward Reachability using Integral Quadratic Constraints for Uncertain Nonlinear Systems
He Yin, Peter Seiler, Murat Arcak
A method is proposed to compute robust inner-approximations to the backward reachable set for uncertain nonlinear systems. It also produces a robust control law that drives traject…