48 citations · 81 across the 15 of their papers we have counts for
8 papers · 1 filter
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions
Andrew Singletary, Aiden Swann, Yuxiao Chen +1
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7"…
Online decentralized decision making with inequality constraints: an ADMM approach
Yuxiao Chen, Mario Santillo, Mrdjan Jankovic +1
We discuss an online decentralized decision making problem where the agents are coupled with affine inequality constraints. Alternating Direction Method of Multipliers (ADMM) is us…
Control Barrier Functions for Sampled-Data Systems with Input Delays
Andrew Singletary, Yuxiao Chen, Aaron D. Ames
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to…
Counter-example Guided Learning of Bounds on Environment Behavior
Yuxiao Chen, Sumanth Dathathri, Tung Phan-Minh +1
There is a growing interest in building autonomous systems that interact with complex environments. The difficulty associated with obtaining an accurate model for such environments…
Safety-Critical Control Synthesis for network systems with Control Barrier Functions and Assume-Guarantee Contracts
Yuxiao Chen, James Anderson, Karan Kalsi +2
This paper aims at the safety-critical control synthesis of network systems such that the satisfaction of the safety constraints can be guaranteed. To handle the large state dimens…
System Level Synthesis with State and Input Constraints
Yuxiao Chen, James Anderson
This paper addresses the problem of designing distributed controllers with state and input constraints in the System Level Synthesis (SLS) framework. Using robust optimization, we…
Duality between density function and value function with applications in constrained optimal control and Markov Decision Process
Yuxiao Chen, Aaron D. Ames
Density function describes the density of states in the state space of a dynamic system or a Markov Decision Process (MDP). Its evolution follows the Liouville equation. We show th…
Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts
Yuxiao Chen, James Anderson, Karan Kalsi +2
This paper presents an assume-guarantee reasoning approach to the computation of robust invariant sets for network systems. Parameterized signal temporal logic (pSTL) is used to fo…