9 citations · 17 across the 20 of their papers we have counts for
5 papers · 1 filter
Verifiable Learned Behaviors via Motion Primitive Composition: Applications to Scooping of Granular Media
Andrew Benton, Eugen Solowjow, Prithvi Akella
A robotic behavior model that can reliably generate behaviors from natural language inputs in real time would substantially expedite the adoption of industrial robots due to enhanc…
Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration
Prithvi Akella, Apurva Badithela, Richard M. Murray +1
Control Barrier Functions (CBFs) allow for efficient synthesis of controllers to maintain desired invariant properties of safety-critical systems. However, the problem of identifyi…
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems
Prithvi Akella, Aaron D. Ames
Efficient methods to provide sub-optimal solutions to non-convex optimization problems with knowledge of the solution's sub-optimality would facilitate the widespread application o…
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Leveraging recent developments in black-box risk-aware verification, we provide three algorithms that generate probabilistic guarantees on (1) optimality of solutions, (2) recursiv…
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications
Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray +1
We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system.…