3 papers
cs.RO2023
Optimal Control of Connected Automated Vehicles with Event-Triggered Control Barrier Functions: a Test Bed for Safe Optimal Merging
Ehsan Sabouni, H. M. Sabbir Ahmad, Wei Xiao +2
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such…
cs.RO2023
Learning Stability Attention in Vision-based End-to-end Driving Policies
Tsun-Hsuan Wang, Wei Xiao, Makram Chahine +3
Modern end-to-end learning systems can learn to explicitly infer control from perception. However, it is difficult to guarantee stability and robustness for these systems since the…
math.OC2023
Learning Feasibility Constraints for Control Barrier Functions
Wei Xiao, Christos G. Cassandras, Calin A. Belta
It has been shown that optimizing quadratic costs while stabilizing affine control systems to desired (sets of) states subject to state and control constraints can be reduced to a…