7 citations · 11 across the 9 of their papers we have counts for
9 papers
Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance
Yilei Jiang, Dongkun Han
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barri…
Barrier Certified Safety Learning Control: When Sum-of-Square Programming Meets Reinforcement Learning
Hejun Huang, Zhenglong Li, Dongkun Han
Safety guarantee is essential in many engineering implementations. Reinforcement learning provides a useful way to strengthen safety. However, reinforcement learning algorithms can…
Sum-of-Squares Program and Safe Learning On Maximizing the Region of Attraction of Partially Unknown Systems
Dongkun Han, Hejun Huang
Recent advances in learning techniques have enabled the modelling of unknown dynamical systems directly from data. However, in many contexts, these learning-based methods are short…
On Estimating the Probabilistic Region of Attraction for Partially Unknown Nonlinear Systems: An Sum-of-Squares Approach
Hejun Huang, Dongkun Han
Estimating the region of attraction for partially unknown nonlinear systems is a challenging issue. In this paper, we propose a tractable method to generate an estimated region of…
Approximating the Region of Multi-Task Coordination via the Optimal Lyapunov-Like Barrier Function
Dongkun Han, Lixing Huang, Dimitra Panagou
We consider the multi-task coordination problem for multi-agent systems under the following objectives: 1. collision avoidance; 2. connectivity maintenance; 3. convergence to desir…
Permissive Barrier Certificates for Safe Stabilization Using Sum-of-squares
Li Wang, Dongkun Han, Magnus Egerstedt
Motivated by the need to simultaneously guarantee safety and stability of safety-critical dynamical systems, we construct permissive barrier certificates in this paper that explici…
Chebyshev Approximation and Higher Order Derivatives of Lyapunov Functions for Estimating the Domain of Attraction
Dongkun Han, Dimitra Panagou
Estimating the Domain of Attraction (DA) of non-polynomial systems is a challenging problem. Taylor expansion is widely adopted for transforming a nonlinear analytic function into…
Distributed Multi-task Formation Control under Parametric Communication Uncertainties
Dongkun Han, Dimitra Panagou
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is…
Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances
Kunal Garg, Dongkun Han, Dimitra Panagou
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic un…