160 citations · 403 across the 56 of their papers we have counts for
5 papers · 1 filter
Robust Sequential Path Planning Under Disturbances and Adversarial Intruder
Mo Chen, Somil Bansal, Jaime F. Fisac +1
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Althou…
Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems
Mo Chen, Sylvia L. Herbert, Mahesh S. Vashishtha +2
Reachability analysis provides formal guarantees for performance and safety properties of nonlinear control systems. Here, one aims to compute the backward reachable set (BRS) or t…
Learning Quadrotor Dynamics Using Neural Network for Flight Control
Somil Bansal, Anayo K. Akametalu, Frank J. Jiang +2
Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a n…
Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids
Caroline Le Floch, Somil Bansal, Claire J. Tomlin +2
This paper presents a predictive controller for handling plug-and-play (P&P) charging requests of flexible loads in a distribution system. We define two types of flexible loads: (i…
Safe Sequential Path Planning Under Disturbances and Imperfect Information
Somil Bansal, Mo Chen, Jaime F. Fisac +1
Multi-UAV systems are safety-critical, and guarantees must be made to ensure no unsafe configurations occur. Hamilton-Jacobi (HJ) reachability is ideal for analyzing such safety-cr…