198 citations · 235 across the 13 of their papers we have counts for
5 papers · 1 filter
FI-ODE: Certifiably Robust Forward Invariance in Neural ODEs
Yujia Huang, Ivan Dario Jimenez Rodriguez, Huan Zhang +2
Forward invariance is a long-studied property in control theory that is used to certify that a dynamical system stays within some pre-specified set of states for all time, and also…
Safe Drone Flight with Time-Varying Backup Controllers
Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez +1
The weight, space, and power limitations of small aerial vehicles often prevent the application of modern control techniques without significant model simplifications. Moreover, hi…
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies
Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue +1
This work presents Neural Gaits, a method for learning dynamic walking gaits through the enforcement of set invariance that can be refined episodically using experimental data from…
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamas G. Molnar +4
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement err…
LyaNet: A Lyapunov Framework for Training Neural ODEs
Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue
We propose a method for training ordinary differential equations by using a control-theoretic Lyapunov condition for stability. Our approach, called LyaNet, is based on a novel Lya…