67 citations · 157 across the 80 of their papers we have counts for
40 papers · 1 filter
Staggered Integral Online Conformal Prediction for Safe Dynamics Adaptation with Multi-Step Coverage Guarantees
Daniel M. Cherenson, Dimitra Panagou
Safety-critical control of uncertain, adaptive systems often relies on conservative, worst-case uncertainty bounds that limit closed-loop performance. Online conformal prediction i…
Kalman-Bucy Filtering with Randomized Sensing: Fundamental Limits and Sensor Network Design for Field Estimation
Xinyi Wang, Devansh R. Agrawal, Dimitra Panagou
Stability analysis of the Kalman filter under randomly lost measurements has been widely studied. We revisit this problem in a general continuous-time framework, where both the mea…
Adaptive Control Allocation for Underactuated Time-Scale Separated Non-Affine Systems
Daniel M. Cherenson, Dimitra Panagou
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. Thi…
Combinatorial Control Barrier Functions: Nested Boolean and p-choose-r Compositions of Safety Constraints
Pio Ong, Haejoon Lee, Tamas G. Molnar +2
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial oper…
Online Safety under Multiple Constraints and Input Bounds using gatekeeper: Theory and Applications
Devansh R. Agrawal, Dimitra Panagou
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recurs…
Minimal Construction of Graphs with Maximum Robustness
Haejoon Lee, Dimitra Panagou
The notions of -robustness and -robustness of a network have been earlier introduced in the literature to achieve resilient consensus in the presence of misbehaving agent…