74 citations · 122 across the 8 of their papers we have counts for
12 papers
Real-time Funnel Generation for Restricted Motion Planning
Hadi Ravanbakhsh, Forrest Laine, Sanjit A. Seshia
In autonomous systems, a motion planner generates reference trajectories which are tracked by a low-level controller. For safe operation, the motion planner should account for inev…
Counterexample-Guided Synthesis of Perception Models and Control
Shromona Ghosh, Yash Vardhan Pant, Hadi Ravanbakhsh +1
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perc…
Formal Policy Learning from Demonstrations for Reachability Properties
Hadi Ravanbakhsh, Sriram Sankaranarayanan, Sanjit A. Seshia
We consider the problem of learning structured, closed-loop policies (feedback laws) from demonstrations in order to control under-actuated robotic systems, so that formal behavior…
VERIFAI: A Toolkit for the Design and Analysis of Artificial Intelligence-Based Systems
Tommaso Dreossi, Daniel J. Fremont, Shromona Ghosh +4
We present VERIFAI, a software toolkit for the formal design and analysis of systems that include artificial intelligence (AI) and machine learning (ML) components. VERIFAI particu…
Inductive Certificate Synthesis for Control Design
Hadi Ravanbakhsh
The focus of this thesis is developing a framework for designing correct-by-construction controllers using control certificates. We use nonlinear dynamical systems to model the phy…
Path-Following through Control Funnel Functions
Hadi Ravanbakhsh, Sina Aghli, Christoffer Heckman +1
We present an approach to path following using so-called control funnel functions. Synthesizing controllers to "robustly" follow a reference trajectory is a fundamental problem for…
Learning Control Lyapunov Functions from Counterexamples and Demonstrations
Hadi Ravanbakhsh, Sriram Sankaranarayanan
We present a technique for learning control Lyapunov-like functions, which are used in turn to synthesize controllers for nonlinear dynamical systems that can stabilize the system,…
A Class of Control Certificates to Ensure Reach-While-Stay for Switched Systems
Hadi Ravanbakhsh, Sriram Sankaranarayanan
In this article, we consider the problem of synthesizing switching controllers for temporal properties through the composition of simple primitive reach-while-stay (RWS) properties…
Learning Lyapunov (Potential) Functions from Counterexamples and Demonstrations
Hadi Ravanbakhsh, Sriram Sankaranarayanan
We present a technique for learning control Lyapunov (potential) functions, which are used in turn to synthesize controllers for nonlinear dynamical systems. The learning framework…
A Counter-Example Guided Framework for Robust Synthesis of Switched Systems Using Control Certificates
Hadi Ravanbakhsh, Sriram Sankaranarayanan
In this article, the problem of synthesizing switching controllers is considered through the synthesis of a "control certificate". Control certificates include control barrier and…
Counter-Example Guided Synthesis of Control Lyapunov Functions for Switched Systems
Hadi Ravanbakhsh, Sriram Sankaranarayanan
We investigate the problem of synthesizing switching controllers for stabilizing continuous-time plants. First, we introduce a class of control Lyapunov functions (CLFs) for switch…
Counterexample Guided Synthesis of Switched Controllers for Reach-While-Stay Properties
Hadi Ravanbakhsh, Sriram Sankaranarayanan
We introduce a counter-example guided inductive synthesis (CEGIS) framework for synthesizing continuous-time switching controllers that guarantee reach while stay (RWS) properties…