41 citations · 62 across the 32 of their papers we have counts for
4 papers · 2 filters
LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials
Oswin So, Eric Yu, Chuchu Fan
Control barrier functions (CBF) are a popular safety filter to ensure safety for nonlinear dynamical systems. However, when the system is subject to uncertainties and disturbances,…
Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer
Jaeyoun Choi, Oswin So, Songyuan Zhang +2
Multi-drone payload transportation has emerged as a promising research paradigm with potential applications in construction, logistics, and disaster response. However, the complex…
Value Functions for Temporal Logic: Optimal Policies and Safety Filters
Oswin So, William Sharpless, Sylvia Herbert +1
While Bellman equations for basic reach, avoid, and reach-avoid problems are well studied, the relationship between value optimality and policy optimality becomes subtle in the und…
Bellman Value Decomposition for Task Logic in Safe Optimal Control
William Sharpless, Oswin So, Dylan Hirsch +2
Real-world tasks involve nuanced combinations of goal and safety specifications. In high dimensions, the challenge is exacerbated: formal automata become cumbersome, and the combin…