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cs.RO2020
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,…
cs.RO2019
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…
cs.RO2019
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…