1 citations · 1 across the 5 of their papers we have counts for
7 papers
Geometry of Radial Basis Neural Networks for Safety Biased Approximation of Unsafe Regions
Ahmad Abuaish, Mohit Srinivasan, Patricio A. Vela
Barrier function-based inequality constraints are a means to enforce safety specifications for control systems. When used in conjunction with a convex optimization program, they pr…
Continuous Reachability Task Transition Using Control Barrier Functions
Mohit Srinivasan, Cesar Santoyo, Samuel Coogan
In this paper, a method to achieve smooth transitions between sequential reachability tasks for a continuous time mobile robotic system is presented. Control barrier functions prov…
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach
Mohit Srinivasan, Amogh Dabholkar, Samuel Coogan +1
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem,…
Extent-Compatible Control Barrier Functions
Mohit Srinivasan, Matthew Abate, Gustav Nilsson +1
Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-…
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications
Mohit Srinivasan, Samuel Coogan
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be convenie…
A Sequential Composition Framework for Coordinating Multi-Robot Behaviors
Pietro Pierpaoli, Anqi Li, Mohit Srinivasan +3
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one…
Control of Multi-Agent Systems with Finite Time Control Barrier Certificates and Temporal Logic
Mohit Srinivasan, Samuel Coogan, Magnus Egerstedt
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-a…