9 citations · 15 across the 12 of their papers we have counts for
8 papers · 1 filter
Safety-Critical Controller Verification via Sim2Real Gap Quantification
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
The well-known quote from George Box states that: "All models are wrong, but some are useful." To develop more useful models, we quantify the inaccuracy with which a given model re…
A Scenario Approach to Risk-Aware Safety-Critical System Verification
Prithvi Akella, Mohamadreza Ahmadi, Aaron D. Ames
With the growing interest in deploying robots in unstructured and uncertain environments, there has been increasing interest in factoring risk into safety-critical control developm…
A Barrier-Based Scenario Approach to Verify Safety-Critical Systems
Prithvi Akella, Aaron D. Ames
In this letter, we detail our randomized approach to safety-critical system verification. Our method requires limited system data to make a strong verification statement. Specifica…
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
In this letter, the authors propose a two-step approach to evaluate and verify a true system's capacity to satisfy its operational objective. Specifically, whenever the system obje…
Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective
Prithvi Akella, Aaron D. Ames
This letter offers a novel approach to Test and Evaluation of pre-existing controllers from a control barrier function and dynamics perspective. More aptly, prior Test and Evaluati…
Learning Performance Bounds for Safety-Critical Systems
Prithvi Akella, Ugo Rosolia, Aaron D. Ames
As the complexity of control systems increases, the need for systematic methods to guarantee their efficacy grows as well. However, direct testing of these systems is oftentimes co…