41 citations · 62 across the 32 of their papers we have counts for
5 papers · 1 filter
Solving Minimum-Cost Reach Avoid using Reinforcement Learning
Oswin So, Cheng Ge, Chuchu Fan
Current reinforcement-learning methods are unable to directly learn policies that solve the minimum cost reach-avoid problem to minimize cumulative costs subject to the constraints…
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…
Active Disruption Avoidance and Trajectory Design for Tokamak Ramp-downs with Neural Differential Equations and Reinforcement Learning
Allen M. Wang, Oswin So, Charles Dawson +3
The tokamak offers a promising path to fusion energy, but plasma disruptions pose a major economic risk, motivating considerable advances in disruption avoidance. This work develop…
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control
Songyuan Zhang, Oswin So, Kunal Garg +1
Distributed, scalable, and safe control of large-scale multi-agent systems is a challenging problem. In this paper, we design a distributed framework for safe multi-agent control i…