21 citations · 26 across the 9 of their papers we have counts for
9 papers
Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning
Sleiman Safaoui, Abraham P. Vinod, Ankush Chakrabarty +3
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon…
Distributionally Robust CVaR-Based Safety Filtering for Motion Planning in Uncertain Environments
Sleiman Safaoui, Tyler H. Summers
Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-ba…
Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning
Rien Quirynen, Sleiman Safaoui, Stefano Di Cairano
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate fra…
Risk-Bounded Temporal Logic Control of Continuous-Time Stochastic Systems
Sleiman Safaoui, Lars Lindemann, Iman Shames +1
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given spec…
Risk Bounded Nonlinear Robot Motion Planning With Integrated Perception & Control
Venkatraman Renganathan, Sleiman Safaoui, Aadi Kothari +3
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and predict…
Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty
Sleiman Safaoui, Benjamin J. Gravell, Venkatraman Renganathan +1
We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant…
Control Design for Risk-Based Signal Temporal Logic Specifications
Sleiman Safaoui, Lars Lindemann, Dimos V Dimarogonas +2
We present a general framework for risk semantics on Signal Temporal Logic (STL) specifications for stochastic dynamical systems using axiomatic risk theory. We show that under our…
Robust 3D Distributed Formation Control with Application to Quadrotors
Kaveh Fathian, Sleiman Safaoui, Tyler H. Summers +1
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and…
Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents
Kaveh Fathian, Sleiman Safaoui, Tyler H. Summers +1
We present a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation. Our approach is based on the barycentric-coordinate…