2 citations · 6 across the 4 of their papers we have counts for
5 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…
Sampling-Based Optimization for Multi-Agent Model Predictive Control
Ziyi Wang, Augustinos D. Saravanos, Hassan Almubarak +2
We systematically review the Variational Optimization, Variational Inference and Stochastic Search perspectives on sampling-based dynamic optimization and discuss their connections…
Safety in Augmented Importance Sampling: Performance Bounds for Robust MPPI
Manan Gandhi, Hassan Almubarak, Yuichiro Aoyama +1
This work explores the nature of augmented importance sampling in safety-constrained model predictive control problems. When operating in a constrained environment, sampling based…
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…