232 citations · 1.5k across the 29 of their papers we have counts for
31 papers
Optimal Safety for Constrained Differential Inclusions using Nonsmooth Control Barrier Functions
Masoumeh Ghanbarpour, Axton Isaly, Ricardo G. Sanfelice +1
For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differentia…
Distributed State Estimation with Deep Neural Networks for Uncertain Nonlinear Systems under Event-Triggered Communication
Federico M. Zegers, Runhan Sun, Girish Chowdhary +1
Distributed state estimation is examined for a sensor network tasked with reconstructing a system's state through the use of a distributed and event-triggered observer. Each agent…
Temporal-Logic-Based Intermittent, Optimal, and Safe Continuous-Time Learning for Trajectory Tracking
Aris Kanellopoulos, Filippos Fotiadis, Chuangchuang Sun +4
In this paper, we develop safe reinforcement-learning-based controllers for systems tasked with accomplishing complex missions that can be expressed as linear temporal logic specif…
Controller Synthesis for Multi-Agent Systems with Intermittent Communication and Metric Temporal Logic Specifications
Zhe Xu, Federico M. Zegers, Bo Wu +3
This paper investigates the controller synthesis problem for a multi-agent system (MAS) with intermittent communication. We adopt a relay-explorer scheme, where a mobile relay agen…
Adaptive Control of Time-Varying Parameter Systems with Asymptotic Tracking
Omkar Sudhir Patil, Runhan Sun, Shubhendu Bhasin +1
A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key fea…
Controller Synthesis for Multi-Agent Systems With Intermittent Communication: A Metric Temporal Logic Approach
Zhe Xu, Federico M. Zegers, Bo Wu +2
This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with ab…
A Switched Systems Approach to Path Following with Intermittent State Feedback
Hsi-Yuan Chen, Zachary I. Bell, Patryk Deptula +1
Autonomous agents are often tasked with operating in an area where feedback is unavailable. Inspired by such applications, this paper develops a novel switched systems-based contro…
Online Approximate Optimal Station Keeping of a Marine Craft in the Presence of a Current
Patrick Walters, Rushikesh Kamalapurkar, Forrest Voight +2
Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An app…
On reduction of differential inclusions and Lyapunov stability
Rushikesh Kamalapurkar, Warren E. Dixon, Andrew R. Teel
In this paper, locally Lipschitz, regular functions are utilized to identify and remove infeasible directions from set-valued maps that define differential inclusions. The resultin…
Model-based reinforcement learning in differential graphical games
Rushikesh Kamalapurkar, Justin R. Klotz, Patrick Walters +1
This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation track…
Invariance-like results for Nonautonomous Switched Systems
Rushikesh Kamalapurkar, Joel A. Rosenfeld, Anup Parikh +2
This paper generalizes the Lasalle-Yoshizawa Theorem to switched nonsmooth systems. Filippov and Krasovskii regularizations of a switched system are shown to be contained within th…
Concurrent learning for parameter estimation using dynamic state-derivative estimators
Rushikesh Kamalapurkar, Ben Reish, Girish Chowdhary +1
A concurrent learning (CL)-based parameter estimator is developed to identify the unknown parameters in a linearly parameterized uncertain control-affine nonlinear system. Unlike s…
Model-based reinforcement learning for infinite-horizon approximate optimal tracking
Rushikesh Kamalapurkar, Lindsey Andrews, Patrick Walters +1
This paper provides an approximate online adaptive solution to the infinite-horizon optimal tracking problem for control-affine continuous-time nonlinear systems with unknown drift…
State Following (StaF) Kernel Functions for Function Approximation
Joel A. Rosenfeld, Rushikesh Kamalapurkar, Warren E. Dixon
A function approximation method is developed that aims to approximate a function in a small neighborhood of a state that travels within a compact set. The development is based on t…
Efficient model-based reinforcement learning for approximate online optimal
Rushikesh Kamalapurkar, Joel A. Rosenfeld, Warren E. Dixon
In this paper the infinite horizon optimal regulation problem is solved online for a deterministic control-affine nonlinear dynamical system using the state following (StaF) kernel…
Time-Varying Input and State Delay Compensation for Uncertain Nonlinear Systems
Rushikesh Kamalapurkar, Nicholas Fischer, Serhat Obuz +1
A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in ad…
Navigation Function Based Decentralized Control of A Multi-Agent System with Network Connectivity Constraints
Zhen Kan, John M. Shea, Warren E. Dixon
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a dece…
Containment Control for a Social Network with State-Dependent Connectivity
Zhen Kan, Justin Klotz, Eduardo L. Pasiliao +1
Social interactions influence our thoughts, opinions and actions. In this paper, social interactions are studied within a group of individuals composed of influential social leader…
Decentralized Rendezvous of Nonholonomic Robots with Sensing and Connectivity Constraints
Zhen Kan, Justin Klotz, Eduardo L. Pasiliao +2
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity…
Concurrent learning-based online approximate feedback-Nash equilibrium solution of N-player nonzero-sum differential games
Rushikesh Kamalapurkar, Justin Klotz, Warren E. Dixon
This paper presents a concurrent learning-based actor-critic-identifier architecture to obtain an approximate feedback-Nash equilibrium solution to an infinite horizon N-player non…
Decentralized formation control with connectivity maintenance and collision avoidance under limited and intermittent sensing
Teng-Hu Cheng, Zhen Kan, Joel A. Rosenfeld +1
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collis…
Tracking Control for FES-Cycling based on Force Direction Efficiency with Antagonistic Bi-Articular Muscles
Hiroyuki Kawai, Matthew J. Bellman, Ryan J. Downey +1
A functional electrical stimulation (FES)-based tracking controller is developed to enable cycling based on a strategy to yield force direction efficiency by exploiting antagonisti…
Online Approximate Optimal Station Keeping of an Autonomous Underwater Vehicle
Patrick Walters, Warren E. Dixon
Online approximation of an optimal station keeping strategy for a fully actuated six degrees-of-freedom autonomous underwater vehicle is considered. The developed controller is an…
Online Approximate Optimal Path-Following for a Kinematic Unicycle
Patrick Walters, Rushikesh Kamalapurkar, Lindsey Andrews +1
Online approximation of an infinite horizon optimal path-following strategy for a kinematic unicycle is considered. The solution to the optimal control problem is approximated usin…