37 citations · 44 across the 13 of their papers we have counts for
14 papers
Proprioceptive feedback paradigm for safe and resilient motion control
Mrdjan Jankovic
Proprioception is a human sense that provides feedback from muscles and joints about body position and motion. This key capability keeps us upright, moving, and responding quickly…
Negotiating Highway Interchange Traffic with a Decentralized Instability-Driven CBF-based Algorithm
Mrdjan Jankovic, Shreshta Rajakumar Deshpande, Gopika Ajaykumar
In this paper we consider an interchange lane-swap scenario, a limited stretch of highway with two parallel lanes where most vehicles want to change lanes. We show that a particula…
Decentralized Merging Control of Connected and Automated Vehicles to Enhance Safety and Energy Efficiency using Control Barrier Functions
Shreshta Rajakumar Deshpande, Mrdjan Jankovic
This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "h…
Energy-efficient Merging of Connected and Automated Vehicles using Control Barrier Functions
Shreshta Rajakumar Deshpande, Mrdjan Jankovic
Highway merges present difficulties for human drivers and automated vehicles due to incomplete situational awareness and a need for a structured (precedence, order) environment, re…
The Impact of Reference-Command Preview on Human-in-the-Loop Control Behavior
Pedram Rabiee, S. Alireza Seyyed Mousavi, Amelia J. S. Sheffler +5
This article presents results from an experiment in which 44 human subjects interact with a dynamic system to perform 40 trials of a command-following task. The reference command i…
Robust AI Driving Strategy for Autonomous Vehicles
Subramanya Nageshrao, Yousaf Rahman, Vladimir Ivanovic +4
There has been significant progress in sensing, perception, and localization for automated driving, However, due to the wide spectrum of traffic/road structure scenarios and the lo…
Multi-agent systems with CBF-based controllers -- collision avoidance and liveness from instability
Mrdjan Jankovic, Mario Santillo, Yan Wang
Assuring system stability is typically a major control design objective. In this paper, we present a system where instability provides a crucial benefit. We consider multi-agent co…
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…
Prescribed-Time Safety Design for a Chain of Integrators
Imoleayo Abel, Drew Steeves, Miroslav Krstic +1
Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose…
Control Barrier Functions With Unmodeled Dynamics Using Integral Quadratic Constraints
Peter Seiler, Mrdjan Jankovic, Erik Hellstrom
This paper presents a control design method that achieves safety for systems with unmodeled dynamics at the plant input. The proposed method combines control barrier functions (CBF…
Backup Control Barrier Functions: Formulation and Comparative Study
Yuxiao Chen, Mrdjan Jankovic, Mario Santillo +1
The backup control barrier function (CBF) was recently proposed as a tractable formulation that guarantees the feasibility of the CBF quadratic programming (QP) via an implicitly d…
Collision Avoidance and Liveness of Multi-agent Systems with CBF-based Controllers
Mrdjan Jankovic, Mario Santillo
In this paper we consider multi-agent navigation with collision avoidance using Control Barrier Functions (CBF). In the case of non-communicating agents, we consider trade-offs bet…
Online decentralized decision making with inequality constraints: an ADMM approach
Yuxiao Chen, Mario Santillo, Mrdjan Jankovic +1
We discuss an online decentralized decision making problem where the agents are coupled with affine inequality constraints. Alternating Direction Method of Multipliers (ADMM) is us…
Collision Free Navigation with Interacting, Non-Communicating Obstacles
Mario Santillo, Mrdjan Jankovic
In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication…