3 citations · 9 across the 15 of their papers we have counts for
16 papers
A Time-to-Collision Barrier Function Approach to Collision Avoidance for Stochastic Systems
Benedikt Barthel Sorensen, Mitchell Black, Erfaun Noorani +1
Collision avoidance constraints for autonomous systems are typically formulated in position or velocity space, implicitly reacting to geometric proximity. We propose an alternative…
A Temporal Barrier Framework for Collision Avoidance in Multi-Agent Autonomous Aerial Vehicles
Benedikt Barthel Sorensen, Mitchell Black, Erfaun Noorani +1
Operating teams of autonomous aircraft in dynamic, uncertain, and potentially adversarial environments requires safety protocols that are reliable yet selective, and allow agents t…
Ergodicity in reinforcement learning
Dominik Baumann, Erfaun Noorani, Arsenii Mustafin +5
In reinforcement learning, we typically aim to optimize the expected value of the sum of rewards an agent collects over a trajectory. However, if the process generating these rewar…
Distributed Risk-Sensitive Safety Filters for Uncertain Discrete-Time Systems
Armin Lederer, Erfaun Noorani, Andreas Krause
Ensuring safety in multi-agent systems is a significant challenge, particularly in settings where centralized coordination is impractical. In this work, we propose a novel risk-sen…
From Abstraction to Reality: DARPA's Vision for Robust Sim-to-Real Autonomy
Erfaun Noorani, Zachary Serlin, Ben Price +1
The DARPA Transfer from Imprecise and Abstract Models to Autonomous Technologies (TIAMAT) program aims to address rapid and robust transfer of autonomy technologies across dynamic…
Counterfactual Explanations for Model Ensembles Using Entropic Risk Measures
Erfaun Noorani, Pasan Dissanayake, Faisal Hamman +1
Counterfactual explanations indicate the smallest change in input that can translate to a different outcome for a machine learning model. Counterfactuals have generated immense int…
Robust Stochastic Shortest-Path Planning via Risk-Sensitive Incremental Sampling
Clinton Enwerem, Erfaun Noorani, John S. Baras +1
With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algori…
Delay-Induced Watermarking for Detection of Replay Attacks in Linear Systems
Christoforos Somarakis, Raman Goyal, Erfaun Noorani +1
A state-feedback watermarking signal design for the detection of replay attacks in linear systems is proposed. The control input is augmented with a random time-delayed term of the…
Time-Robust Path Planning with Piece-Wise Linear Trajectory for Signal Temporal Logic Specifications
Nhan-Khanh Le, Erfaun Noorani, Sandra Hirche +1
Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execu…
Towards Efficient Risk-Sensitive Policy Gradient: An Iteration Complexity Analysis
Rui Liu, Anish Gupta, Erfaun Noorani +1
Reinforcement Learning (RL) has shown exceptional performance across various applications, enabling autonomous agents to learn optimal policies through interaction with their envir…
Risk-Sensitive Inhibitory Control for Safe Reinforcement Learning
Armin Lederer, Erfaun Noorani, John S. Baras +1
Humans have the ability to deviate from their natural behavior when necessary, which is a cognitive process called response inhibition. Similar approaches have independently receiv…
Reinforcement learning with non-ergodic reward increments: robustness via ergodicity transformations
Dominik Baumann, Erfaun Noorani, James Price +3
Envisioned application areas for reinforcement learning (RL) include autonomous driving, precision agriculture, and finance, which all require RL agents to make decisions in the re…
Robust Counterfactual Explanations for Neural Networks With Probabilistic Guarantees
Faisal Hamman, Erfaun Noorani, Saumitra Mishra +2
There is an emerging interest in generating robust counterfactual explanations that would remain valid if the model is updated or changed even slightly. Towards finding robust coun…
Risk-Sensitive Reinforcement Learning with Exponential Criteria
Erfaun Noorani, Christos Mavridis, John Baras
While reinforcement learning has shown experimental success in a number of applications, it is known to be sensitive to noise and perturbations in the parameters of the system, lea…
Co-Design of Watermarking and Robust Control for Security in Cyber-Physical Systems
Raman Goyal, Christoforos Somarakis, Erfaun Noorani +1
This work discusses a novel framework for simultaneous synthesis of optimal watermarking signal and robust controllers in cyber-physical systems to minimize the loss in performance…
Collaborative Beamforming Under Localization Errors: A Discrete Optimization Approach
Erfaun Noorani, Yagiz Savas, Alec Koppel +3
We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamfo…