13 citations · 49 across the 59 of their papers we have counts for
12 papers · 1 filter
Learning a Better Control Barrier Function Under Uncertain Dynamics
Bolun Dai, Prashanth Krishnamurthy, Farshad Khorrami
Using control barrier functions (CBFs) as safety filters provides a computationally inexpensive yet effective method for constructing controllers in safety-critical applications. H…
LipSim: A Provably Robust Perceptual Similarity Metric
Sara Ghazanfari, Alexandre Araujo, Prashanth Krishnamurthy +2
Recent years have seen growing interest in developing and applying perceptual similarity metrics. Research has shown the superiority of perceptual metrics over pixel-wise metrics i…
High-Dimensional Controller Tuning through Latent Representations
Alireza Sarmadi, Prashanth Krishnamurthy, Farshad Khorrami
In this paper, we propose a method to automatically and efficiently tune high-dimensional vectors of controller parameters. The proposed method first learns a mapping from the high…
Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance
Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy +1
Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based metho…
R-LPIPS: An Adversarially Robust Perceptual Similarity Metric
Sara Ghazanfari, Siddharth Garg, Prashanth Krishnamurthy +2
Similarity metrics have played a significant role in computer vision to capture the underlying semantics of images. In recent years, advanced similarity metrics, such as the Learne…
Using Circulation to Mitigate Spurious Equilibria in Control Barrier Function -- Extended Version
Vinicius Mariano Goncalves, Prashanth Krishnamurthy, Anthony Tzes +1
Control Barrier Functions and Quadratic Programming are increasingly used for designing controllers that consider critical safety constraints. However, like Artificial Potential Fi…