45 citations · 49 across the 5 of their papers we have counts for
6 papers
Gaussian Process Implicit Surfaces as Control Barrier Functions for Safe Robot Navigation
Mouhyemen Khan, Tatsuya Ibuki, Abhijit Chatterjee
Level set methods underpin modern safety techniques such as control barrier functions (CBFs), while also serving as implicit surface representations for geometric shapes via distan…
Gaussian Control Barrier Functions : A Non-Parametric Paradigm to Safety
Mouhyemen Khan, Tatsuya Ibuki, Abhijit Chatterjee
Inspired by the success of control barrier functions (CBFs) in addressing safety, and the rise of data-driven techniques for modeling functions, we propose a non-parametric approac…
Multi-Sparse Gaussian Process: Learning based Semi-Parametric Control
Mouhyemen Khan, Akash Patel, Abhijit Chatterjee
A key challenge with controlling complex dynamical systems is to accurately model them. However, this requirement is very hard to satisfy in practice. Data-driven approaches such a…
Online Parameter Estimation for Safety-Critical Systems with Gaussian Processes
Mouhyemen Khan, Abhijit Chatterjee
Parameter estimation is crucial for modeling, tracking, and control of complex dynamical systems. However, parameter uncertainties can compromise system performance under a control…
Barrier Functions in Cascaded Controller: Safe Quadrotor Control
Mouhyemen Khan, Munzir Zafar, Abhijit Chatterjee
Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challe…
On Realistic Target Coverage by Autonomous Drones
Ahmed Saeed, Ahmed Abdelkader, Mouhyemen Khan +3
Low-cost mini-drones with advanced sensing and maneuverability enable a new class of intelligent sensing systems. To achieve the full potential of such drones, it is necessary to d…