41 citations · 62 across the 32 of their papers we have counts for
4 papers · 1 filter
Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL
Songyuan Zhang, Oswin So, Mitchell Black +2
Tasks for multi-robot systems often require the robots to collaborate and complete a team goal while maintaining safety. This problem is usually formalized as a constrained Markov…
Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control
Songyuan Zhang, Oswin So, Mitchell Black +1
Control policies that can achieve high task performance and satisfy safety constraints are desirable for any system, including multi-agent systems (MAS). One promising technique fo…
Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions
Ji Yin, Oswin So, Eric Yang Yu +2
A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have show…
Learning Plasma Dynamics and Robust Rampdown Trajectories with Predict-First Experiments at TCV
Allen M. Wang, Alessandro Pau, Cristina Rea +12
The rampdown phase of a tokamak pulse is difficult to simulate and often exacerbates multiple plasma instabilities. To reduce the risk of disrupting operations, we leverage advance…