42 citations · 60 across the 13 of their papers we have counts for
11 papers · 1 filter
Safely: Safe Stochastic Motion Planning Under Constrained Sensing via Duality
Michael Hibbard, Abraham P. Vinod, Jesse Quattrociocchi +1
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of…
On-The-Fly Control of Unknown Systems: From Side Information to Performance Guarantees through Reachability
Franck Djeumou, Abraham P. Vinod, Eric Goubault +2
We develop data-driven algorithms for reachability analysis and control of systems with a priori unknown nonlinear dynamics. The resulting algorithms not only are suitable for sett…
On-The-Fly Control of Unknown Smooth Systems from Limited Data
Franck Djeumou, Abraham P. Vinod, Eric Goubault +2
We investigate the problem of data-driven, on-the-fly control of systems with unknown nonlinear dynamics where data from only a single finite-horizon trajectory and possibly side i…
Blending Controllers via Multi-Objective Bandits
Parham Gohari, Franck Djeumou, Abraham P. Vinod +1
Safety and performance are often two competing objectives in sequential decision-making problems. Existing performant controllers, such as controllers derived from reinforcement le…
Trust-based user-interface design for human-automation systems
Abraham P. Vinod, Adam J. Thorpe, Philip A. Olaniyi +2
We present a method for dynamics-driven, user-interface design for a human-automation system via sensor selection. We define the user-interface to be the output of a MIMO LTI syste…
Lagrangian Approximations for Stochastic Reachability of a Target Tube
Joseph D. Gleason, Abraham P. Vinod, Meeko M. K. Oishi
In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets fo…
Probabilistic Occupancy Function and Sets Using Forward Stochastic Reachability for Rigid-Body Dynamic Obstacles
Abraham P. Vinod, Meeko M. K. Oishi
We present theory and algorithms for the computation of probability-weighted "keep-out" sets to assure probabilistically safe navigation in the presence of multiple rigid body obst…
Underapproximation of Reach-Avoid Sets for Discrete-Time Stochastic Systems via Lagrangian Methods
Joseph D. Gleason, Abraham P. Vinod, Meeko. M. K. Oishi
We examine Lagrangian techniques for computing underapproximations of finite-time horizon, stochastic reach-avoid level-sets for discrete-time, nonlinear systems. We use the concep…
Scalable Underapproximation for the Stochastic Reach-Avoid Problem for High-Dimensional LTI Systems using Fourier Transforms
Abraham P. Vinod, Meeko M. K. Oishi
We present a scalable underapproximation of the terminal hitting time stochastic reach-avoid probability at a given initial condition, for verification of high-dimensional stochast…
Computation of forward stochastic reach sets: Application to stochastic, dynamic obstacle avoidance
Baisravan HomChaudhuri, Abraham P. Vinod, Meeko M. K. Oishi
We propose a method to efficiently compute the forward stochastic reach (FSR) set and its probability measure for nonlinear systems with an affine disturbance input, that is stocha…
Forward Stochastic Reachability Analysis for Uncontrolled Linear Systems using Fourier Transforms
Abraham P. Vinod, Baisravan Homchaudhuri, Meeko M. K. Oishi
We propose a scalable method for forward stochastic reachability analysis for uncontrolled linear systems with affine disturbance. Our method uses Fourier transforms to efficiently…