123 citations · 672 across the 112 of their papers we have counts for
12 papers · 1 filter
Safe Control Design for Unknown Nonlinear Systems with Koopman-based Fixed-Time Identification
Mitchell Black, Dimitra Panagou
We consider the problem of safe control design for a class of nonlinear, control-affine systems subject to an unknown, additive, nonlinear disturbance. Leveraging recent advancemen…
Safe and Robust Observer-Controller Synthesis using Control Barrier Functions
Devansh R. Agrawal, Dimitra Panagou
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system rem…
gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments
Devansh R Agrawal, Ruichang Chen, Dimitra Panagou
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints des…
Compositions of Multiple Control Barrier Functions Under Input Constraints
Joseph Breeden, Dimitra Panagou
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in t…
Adaptation for Validation of a Consolidated Control Barrier Function based Control Synthesis
Mitchell Black, Dimitra Panagou
We develop a novel adaptation-based technique for safe control design in the presence of multiple control barrier function (CBF) constraints. Specifically, we introduce an approach…
FORESEE: Prediction with Expansion-Compression Unscented Transform for Online Policy Optimization
Hardik Parwana, Dimitra Panagou
Propagating state distributions through a generic, uncertain nonlinear dynamical model is known to be intractable and usually begets numerical or analytical approximations. We intr…
Adversary Detection and Resilient Control for Multi-Agent Systems
Aquib Mustafa, Dimitra Panagou
This paper presents an adversary detection mechanism and a resilient control framework for multi-agent systems under spatiotemporal constraints. Safety in multi-agent systems is ty…
Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent Systems
Hardik Parwana, Dimitra Panagou
For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and ad…
Fixed-Time Parameter Adaptation for Safe Control Synthesis
Mitchell Black, Ehsan Arabi, Dimitra Panagou
This paper introduces a parameter adaptation-based control law for a class of nonlinear, control-affine, safety-critical systems subject to additive, parameter-affine model uncerta…
Predictive Control Barrier Functions for Online Safety Critical Control
Joseph Breeden, Dimitra Panagou
This paper presents a methodology for constructing Control Barrier Functions (CBFs) that proactively consider the future safety of a system along a nominal trajectory, and effect c…
Future-Focused Control Barrier Functions for Autonomous Vehicle Control
Mitchell Black, Mrdjan Jankovic, Abhishek Sharma +1
In this paper, we introduce a class of future-focused control barrier functions (ff-CBF) aimed at improving traditionally myopic CBF based control design and study their efficacy i…
Formally verified asymptotic consensus in robust networks
Mohit Tekriwal, Avi Tachna-Fram, Jean-Baptiste Jeannin +2
Distributed architectures are used to improve performance and reliability of various systems. Examples include drone swarms and load-balancing servers. An important capability of a…