124 citations · 200 across the 25 of their papers we have counts for
5 papers · 1 filter
Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions
Ryan K. Cosner, Igor Sadalski, Jana K. Woo +2
A key source of brittleness for robotic systems is the presence of model uncertainty and external disturbances. Most existing approaches to robust control either seek to bound the…
Safe Online Dynamics Learning with Initially Unknown Models and Infeasible Safety Certificates
Alexandre Capone, Ryan Cosner, Aaron Ames +1
Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize cons…
Input-to-State Stability in Probability
Preston Culbertson, Ryan K. Cosner, Maegan Tucker +1
Input-to-State Stability (ISS) is fundamental in mathematically quantifying how stability degrades in the presence of bounded disturbances. If a system is ISS, its trajectories wil…
Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving
Ryan K. Cosner, Yuxiao Chen, Karen Leung +1
Drivers have a responsibility to exercise reasonable care to avoid collision with other road users. This assumed responsibility allows interacting agents to maintain safety without…
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions
Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor +1
Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-wor…