58 citations · 61 across the 8 of their papers we have counts for
10 papers
Agent Utilities over Generalized Voronoi Regions and their Gradients
Andre N. Costa, Petter Ögren, Carlos H. C. Ribeiro
In this paper, we generalize the concept of Voronoi regions, define agent utility as the integral of a utility density over the corresponding Voronoi region, derive gradients of th…
Least Restrictive Hyperplane Control Barrier Functions
Mattias Trende, Petter Ögren
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially…
BVR Gym: A Reinforcement Learning Environment for Beyond-Visual-Range Air Combat
Edvards Scukins, Markus Klein, Lars Kroon +1
Creating new air combat tactics and discovering novel maneuvers can require numerous hours of expert pilots' time. Additionally, for each different combat scenario, the same strate…
Deep Learning Based Situation Awareness for Multiple Missiles Evasion
Edvards Scukins, Markus Klein, Lars Kroon +1
As the effective range of air-to-air missiles increases, it becomes harder for human operators to maintain the situational awareness needed to keep a UAV safe. In this work, we pro…
Improving the performance of Learned Controllers in Behavior Trees using Value Function Estimates at Switching Boundaries
Mart Kartasev, Petter Ögren
Behavior trees represent a modular way to create an overall controller from a set of sub-controllers solving different sub-problems. These sub-controllers can be created in differe…
Behavior Trees in Robot Control Systems
Petter Ögren, Christopher I. Sprague
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity,…
A formal approach to good practices in Pseudo-Labeling for Unsupervised Domain Adaptive Re-Identification
Fabian Dubourvieux, Romaric Audigier, Angélique Loesch +2
The use of pseudo-labels prevails in order to tackle Unsupervised Domain Adaptive (UDA) Re-Identification (re-ID) with the best performance. Indeed, this family of approaches has g…
Continuous-Time Behavior Trees as Discontinuous Dynamical Systems
Christopher Iliffe Sprague, Petter Ögren
Behavior trees represent a hierarchical and modular way of combining several low-level control policies into a high-level task-switching policy. Hybrid dynamical systems can also b…
Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions
Özer Özkahraman, Petter Ögren
Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning t…
Learning Dynamic-Objective Policies from a Class of Optimal Trajectories
Christopher Iliffe Sprague, Dario Izzo, Petter Ögren
Optimal state-feedback controllers, capable of changing between different objective functions, are advantageous to systems in which unexpected situations may arise. However, synthe…