36 citations · 66 across the 6 of their papers we have counts for
6 papers
Gaussian Process Barrier States for Safe Trajectory Optimization and Control
Hassan Almubarak, Manan Gandhi, Yuichiro Aoyama +2
This paper proposes embedded Gaussian Process Barrier States (GP-BaS), a methodology to safely control unmodeled dynamics of nonlinear system using Bayesian learning. Gaussian Proc…
Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization
Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh
Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environm…
HJB Based Optimal Safe Control Using Control Barrier Functions
Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh
This work proposes an optimal safe controller minimizing an infinite horizon cost functional subject to control barrier functions (CBFs) safety conditions. The constrained optimal…
Safety Embedded Differential Dynamic Programming Using Discrete Barrier States
Hassan Almubarak, Kyle Stachowicz, Nader Sadegh +1
Certified safe control is a growing challenge in robotics, especially when performance and safety objectives must be concurrently achieved. In this work, we extend the barrier stat…
Safety Embedded Control of Nonlinear Systems via Barrier States
Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou
In many safety-critical control systems, possibly opposing safety restrictions and control performance objectives arise. To confront such a conflict, this letter proposes a novel m…
Recursive Analytic Solution of Nonlinear Optimal Regulators
Nader Sadegh, Hassan Almubarak
The paper develops an optimal regulator for a general class of multi-input affine nonlinear systems minimizing a nonlinear cost functional with infinite horizon. The cost functiona…