1 citations · 2 across the 26 of their papers we have counts for
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Local Dissipativity Analysis of Nonlinear Systems
Amy K. Strong, Leila Bridgeman
Dissipativity is an input-output (IO) characterization of nonlinear systems that enables compositional robust control through Vidyasagar's Network Dissipativity Theorem (VDNT). How…
Communication-Aware Dissipative Control for Networks of Heterogeneous Nonlinear Agents
Ingyu Jang, Leila J. Bridgeman
Communication-aware control is essential to reduce costs and complexity in large-scale networks. However, it is challenging to simultaneously determine a sparse communication topol…
Dissipativity and L2 Stability of Large-Scale Networks with Changing Interconnections
Ingyu Jang, Leila J. Bridgeman
In this paper, the L2 stability of switched networks is studied based on the QSR-dissipativity of each agent. While the integration of dissipativity with switched systems has recei…
Learning Control Barrier Functions with Deterministic Safety Guarantees
Amy K. Strong, Ali Kashani, Claus Danielson +1
Barrier functions (BFs) characterize safe sets of dynamical systems, where hard constraints are never violated as the system evolves over time. Computing a valid safe set and BF fo…
Data-driven certificates of constraint enforcement and stability for unmodeled, discrete dynamical systems using tree data structures
Amy K. Strong, Ali Kashani, Claus Danielson +1
This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure a…
Consensus-Based Stability Analysis of Multi-Agent Networks
Ingyu Jang, Ethan J. LoCicero, Leila Bridgeman
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorith…
Dissipativity-Based Distributed Stability Analysis for Networks with Heterogeneous Nonlinear Agents
Ingyu Jang, Ethan J. LoCicero, Leila Bridgeman
Stabilizing large networks of nonlinear agents is challenging; decomposition and distributed analysis of these networks are crucial for computational tractability and information s…
TumorMap: A Laser-based Surgical Platform for 3D Tumor Mapping and Fully-Automated Tumor Resection
Guangshen Ma, Ravi Prakash, Beatrice Schleupner +10
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surro…
Adaptive Meshing for CPA Lyapunov Function Synthesis
Amy K. Strong, Samuel Akinwande, Leila Bridgeman
Continuous Piecewise Affine (CPA) Lyapunov function synthesis is one method to perform Lyapunov stability analysis for nonlinear systems. This method first generates a mesh over th…
Data driven synthesis of provable invariant sets via stochastically sampled data
Amy K. Strong, Ali Kashani, Claus Danielson +1
Positive invariant (PI) sets are essential for ensuring safety, i.e. constraint adherence, of dynamical systems. With the increasing availability of sampled data from complex (and…
See, Plan, Cut: MPC-Based Autonomous Volumetric Robotic Laser Surgery with OCT Guidance
Ravi Prakash, Vincent Y. Wang, Arpit Mishra +5
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedb…