36 citations · 82 across the 13 of their papers we have counts for
4 papers · 1 filter
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…
Differentiable Robust Model Predictive Control
Alex Oshin, Hassan Almubarak, Evangelos A. Theodorou
Deterministic model predictive control (MPC), while powerful, is often insufficient for effectively controlling autonomous systems in the real-world. Factors such as environmental…
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…
Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States
Joshua E. Kuperman, Hassan Almubarak, Augustinos D. Saravanos +1
In this paper, we introduce Tolerant Discrete Barrier States (T-DBaS), a novel safety-embedding technique for trajectory optimization with enhanced exploratory capabilities. The pr…