5 citations · 6 across the 4 of their papers we have counts for
6 papers
Towards learning-based planning:The nuPlan benchmark for real-world autonomous driving
Napat Karnchanachari, Dimitris Geromichalos, Kok Seang Tan +8
Machine Learning (ML) has replaced traditional handcrafted methods for perception and prediction in autonomous vehicles. Yet for the equally important planning task, the adoption o…
Risk-Bounded Control with Kalman Filtering and Stochastic Barrier Functions
Shakiba Yaghoubi, Georgios Fainekos, Tomoya Yamaguchi +2
In this paper, we study Stochastic Control Barrier Functions (SCBFs) to enable the design of probabilistic safe real-time controllers in presence of uncertainties and based on nois…
Safe Navigation in Human Occupied Environments Using Sampling and Control Barrier Functions
Keyvan Majd, Shakiba Yaghoubi, Tomoya Yamaguchi +3
Sampling-based methods such as Rapidly-exploring Random Trees (RRTs) have been widely used for generating motion paths for autonomous mobile systems. In this work, we extend time-b…
Training Neural Network Controllers Using Control Barrier Functions in the Presence of Disturbances
Shakiba Yaghoubi, Georgios Fainekos, Sriram Sankaranarayanan
Control Barrier Functions (CBF) have been recently utilized in the design of provably safe feedback control laws for nonlinear systems. These feedback control methods typically com…
Gray-box Adversarial Testing for Control Systems with Machine Learning Component
Shakiba Yaghoubi, Georgios Fainekos
Neural Networks (NN) have been proposed in the past as an effective means for both modeling and control of systems with very complex dynamics. However, despite the extensive resear…
Local Descent For Temporal Logic Falsification of Cyber-Physical Systems (Extended Technical Report)
Shakiba Yaghoubi, Georgios Fainekos
One way to analyze Cyber-Physical Systems is by modeling them as hybrid automata. Since reachability analysis for hybrid nonlinear automata is a very challenging and computationall…