From the 1 of 9 linked papers with an AI index.
9 papers
PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner
Eugene Ku, Yiwei Lyu
PC-Diffuser integrates a certifiable barrier-function safety filter directly into the denoising loop of diffusion-based trajectory planners for autonomous driving, ensuring forward…
Causality-Based Parametric Control Barrier Function for Safe Multi-Vehicle Interaction
Yiwei Lyu, Caleb Chang, John M. Dolan
Safe control has been widely studied in various safety-critical applications, for instance, autonomous driving. In order to ensure the autonomous vehicle does not collide with othe…
Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
Joonkyung Kim, Yanze Zhang, Wenhao Luo +1
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assu…
Multimodal Belief-Space Covariance Steering with Active Probing and Influence for Interactive Driving
Devodita Chakravarty, John Dolan, Yiwei Lyu
Autonomous driving in complex traffic requires reasoning under uncertainty. Common approaches rely on prediction-based planning or risk-aware control, but these are typically treat…
Feasibility Restoration under Conflicting STL Specifications with Pareto-Optimal Refinement
Tianhao Wu, Yiwei Lyu
Signal Temporal Logic (STL) is expressive formal language that specifies spatio-temporal requirements in robotics. Its quantitative robustness semantics can be easily integrated wi…
Gaussian Mixture-Based Inverse Perception Contract for Uncertainty-Aware Robot Navigation
Bingyao Du, Joonkyung Kim, Yiwei Lyu
Reliable navigation in cluttered environments requires perception outputs that are not only accurate but also equipped with uncertainty sets suitable for safe control. An inverse p…