13 citations · 44 across the 20 of their papers we have counts for
4 papers · 1 filter
End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions
Ryan K. Cosner, Yisong Yue, Aaron D. Ames
Imitation learning (IL) is a learning paradigm which can be used to synthesize controllers for complex systems that mimic behavior demonstrated by an expert (user or control algori…
Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles
Sushant Veer, Karen Leung, Ryan Cosner +3
Autonomous vehicles must often contend with conflicting planning requirements, e.g., safety and comfort could be at odds with each other if avoiding a collision calls for slamming…
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamas G. Molnar +4
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement err…
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models
Andrew J. Taylor, Victor D. Dorobantu, Ryan K. Cosner +2
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address…