2 citations · 3 across the 4 of their papers we have counts for
5 papers
BubbleCBF: Constructive Safety for Second-Order Systems and Application to Autonomous Robot Navigation in Unknown Environments
Mani Amani, Mohammed Alyaseen, Zhirui Dai +3
Satisfying safety constraints for systems with second-order dynamics is challenging because a position constraint may require infeasible deceleration. Higher-order control barrier…
Safe Control of Second-Order Systems with Linear Constraints
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given…
Safety-Critical Control of Discontinuous Systems with Nonsmooth Safe Sets
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and inte…
Continuity and Boundedness of Minimum-Norm CBF-Safe Controllers
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
The existence of a Control Barrier Function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and…
Simultaneous input & state estimation, singular filtering and stability
Mohammad Ali Abooshahab, Mohammed M. J. Alyaseen, Robert R. Bitmead +1
Input estimation is a signal processing technique associated with deconvolution of measured signals after filtering through a known dynamic system. Kitanidis and others extended th…