3 papers
math.OC2018
A Minimum Discounted Reward Hamilton-Jacobi Formulation for Computing Reachable Sets
Anayo K. Akametalu, Shromona Ghosh, Jaime F. Fisac +1
We propose a novel formulation for approximating reachable sets through a minimum discounted reward optimal control problem. The formulation yields a continuous solution that can b…
cs.RO2017
A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems
Jaime F. Fisac, Anayo K. Akametalu, Melanie N. Zeilinger +3
The proven efficacy of learning-based control schemes strongly motivates their application to robotic systems operating in the physical world. However, guaranteeing correct operati…
eess.SY2016
Learning Quadrotor Dynamics Using Neural Network for Flight Control
Somil Bansal, Anayo K. Akametalu, Frank J. Jiang +2
Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a n…