41 citations · 62 across the 32 of their papers we have counts for
10 papers · 1 filter
Maximizing Reach-Avoid Probabilities for Linear Stochastic Systems via Control Architectures
Niklas Schmid, Jaeyoun Choi, Oswin So +1
The maximization of reach-avoid probabilities for stochastic systems is a central topic in the control literature. Yet, the available methods are either restricted to low-dimension…
Safety on the Fly: Constructing Robust Safety Filters via Policy Control Barrier Functions at Runtime
Luzia Knoedler, Oswin So, Ji Yin +5
Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of di…
Second-Order Constrained Dynamic Optimization
Yuichiro Aoyama, Oswin So, Augustinos D. Saravanos +1
This paper provides an overview, analysis, and comparison of second-order dynamic optimization algorithms, i.e., constrained Differential Dynamic Programming (DDP) and Sequential Q…
Almost-Sure Safety Guarantees of Stochastic Zero-Control Barrier Functions Do Not Hold
Oswin So, Andrew Clark, Chuchu Fan
The 2021 paper "Control barrier functions for stochastic systems" provides theorems that give almost sure safety guarantees given stochastic zero control barrier function (ZCBF). U…
How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems
Oswin So, Zachary Serlin, Makai Mann +4
Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to cons…
Sampling-Based Optimization for Multi-Agent Model Predictive Control
Ziyi Wang, Augustinos D. Saravanos, Hassan Almubarak +2
We systematically review the Variational Optimization, Variational Inference and Stochastic Search perspectives on sampling-based dynamic optimization and discuss their connections…
Multimodal Maximum Entropy Dynamic Games
Oswin So, Kyle Stachowicz, Evangelos A. Theodorou
Environments with multi-agent interactions often result a rich set of modalities of behavior between agents due to the inherent suboptimality of decision making processes when agen…
Maximum Entropy Differential Dynamic Programming
Oswin So, Ziyi Wang, Evangelos A. Theodorou
In this paper, we present a novel maximum entropy formulation of the Differential Dynamic Programming algorithm and derive two variants using unimodal and multimodal value function…
Spatio-Temporal Differential Dynamic Programming for Control of Fields
Ethan N. Evans, Oswin So, Andrew P. Kendall +2
We consider the optimal control problem of a general nonlinear spatio-temporal system described by Partial Differential Equations (PDEs). Theory and algorithms for control of spati…
Adaptive Risk Sensitive Model Predictive Control with Stochastic Search
Ziyi Wang, Oswin So, Keuntaek Lee +2
We present a general framework for optimizing the Conditional Value-at-Risk for dynamical systems using stochastic search. The framework is capable of handling the uncertainty from…