3 citations · 9 across the 15 of their papers we have counts for
8 papers · 1 filter
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…
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…
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…
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…
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…