36 citations · 82 across the 13 of their papers we have counts for
9 papers · 1 filter
Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction
Hassan Almubarak, Maitham F. AL-Sunni, Justin T. Dubbin +3
We present a Riccati-based framework for safety-critical nonlinear control that integrates the barrier states (BaS) methodology with the State-Dependent Riccati Equation (SDRE) app…
Barrier States Theory for Safety-Critical Multi-Objective Control
Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou
Multi-objective safety-critical control entails a diligent design to avoid possibly conflicting scenarios and ensure safety. This paper addresses multi-objective safety-critical co…
Safe Importance Sampling in Model Predictive Path Integral Control
Manan Gandhi, Hassan Almubarak, Evangelos Theodorou
We introduce the notion of importance sampling under embedded barrier state control, titled Safety Controlled Model Predictive Path Integral Control (SC-MPPI). For robotic systems…
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…
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…
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 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…