27 citations · 28 across the 4 of their papers we have counts for
6 papers
Certifiable Robot Design Optimization using Differentiable Programming
Charles Dawson, Chuchu Fan
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, a…
Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic
Charles Dawson, Chuchu Fan
Signal temporal logic (STL) provides a powerful, flexible framework for specifying complex autonomy tasks; however, existing methods for planning based on STL specifications have d…
Learning Safe, Generalizable Perception-based Hybrid Control with Certificates
Charles Dawson, Bethany Lowenkamp, Dylan Goff +1
Many robotic tasks require high-dimensional sensors such as cameras and Lidar to navigate complex environments, but developing certifiably safe feedback controllers around these se…
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions
Charles Dawson, Zengyi Qin, Sicun Gao +1
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We devel…
Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles
Charles Dawson, Ashkan Jasour, Andreas Hofmann +1
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning…
Fast Certification of Collision Probability Bounds with Uncertain Convex Obstacles
Charles Dawson, Andreas Hofmann, Brian Williams
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for bo…