1 citations · 3 across the 19 of their papers we have counts for
20 papers
Safe Output-Feedback Adaptive Optimal Control of Affine Nonlinear Systems
Tochukwu E. Ogri, Muzaffar Qureshi, Zachary I. Bell +2
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier fun…
System Identification and Control Using Lyapunov-Based Deep Neural Networks without Persistent Excitation: A Concurrent Learning Approach
Rebecca G. Hart, Omkar Sudhir Patil, Zachary I. Bell +1
Deep Neural Networks (DNNs) are increasingly used in control applications due to their powerful function approximation capabilities. However, many existing formulations focus prima…
Improved Dwell-times for Switched Nonlinear Systems using Memory Regression Extension
Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos +3
This paper presents a switched systems approach for extending the dwell-time of an autonomous agent during GPS-denied operation by leveraging memory regressor extension (MRE) techn…
A Taylor Series Approach to Correction of Input Errors in Gaussian Process Regression
Muzaffar Qureshi, Tochukwu Elijah Ogri, Zachary I. Bell +2
Gaussian Processes (GPs) are widely recognized as powerful non-parametric models for regression and classification. Traditional GP frameworks predominantly operate under the assump…
Lyapunov-Based Graph Neural Networks for Adaptive Control of Multi-Agent Systems
Brandon C. Fallin, Cristian F. Nino, Omkar Sudhir Patil +2
Graph neural networks (GNNs) have a message-passing framework in which vector messages are exchanged between graph nodes and updated using feedforward layers. The inclusion of dist…
Gaussian Process-Based Scalar Field Estimation in GPS-Denied Environments
Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos +2
This paper presents a methodology for an autonomous agent to map an unknown scalar field in GPS-denied regions. To reduce localization errors, the agent alternates between GPS-enab…
Scalar Field Mapping with Adaptive High-Intensity Region Avoidance
Muzaffar Qureshi, Tochukwu Elijah Ogri, Zachary I. Bell +1
This research is motivated by a scenario where a group of UAVs is assigned to map an unknown scalar field, with the imperative of maintaining a safe distance from the sources of th…
Safe Output-Feedback Adaptive Optimal Control of Input-Constrained Control-Affine Nonlinear Systems
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +1
In this paper, a novel online, safe output-feedback, critic-only, adaptive optimal control framework is developed for safety-critical control of partially observable systems. The d…
An adaptive optimal control approach to monocular depth observability maximization
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +2
This paper presents an integral concurrent learning (ICL)-based observer for a monocular camera to accurately estimate the Euclidean distance to features on a stationary object, un…
Defending a Static Target Point with a Slow Defender
Goutam Das, Michael Dorothy, Zachary I. Bell +1
This paper studies a target-defense game played between a slow defender and a fast attacker. The attacker wins the game if it reaches the target while avoiding the defender's captu…
Deep Nonlinear Adaptive Control for Unmanned Aerial Systems Operating under Dynamic Uncertainties
Zachary Lamb, Zachary I. Bell, Matthew Longmire +3
Recent literature in the field of machine learning (ML) control has shown promising theoretical results for a Deep Neural Network (DNN) based Nonlinear Adaptive Controller (DNAC) c…
Policy Stitching: Learning Transferable Robot Policies
Pingcheng Jian, Easop Lee, Zachary Bell +2
Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environm…
Output Feedback Adaptive Optimal Control of Affine Nonlinear systems with a Linear Measurement Model
Tochukwu Elijah Ogri, S. M. Nahid Mahmud, Zachary I. Bell +1
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an…
Guarding a Non-Maneuverable Translating Line with an Attached Defender
Goutam Das, Michael Dorothy, Zachary I. Bell +1
In this paper we consider a target-guarding differential game where the defender must protect a linearly translating line-segment by intercepting an attacker who tries to reach it.…
A Zeroth-Order Momentum Method for Risk-Averse Online Convex Games
Zifan Wang, Yi Shen, Zachary I. Bell +3
We consider risk-averse learning in repeated unknown games where the goal of the agents is to minimize their individual risk of incurring significantly high cost. Specifically, the…
Safe Controller for Output Feedback Linear Systems using Model-Based Reinforcement Learning
S M Nahid Mahmud, Moad Abudia, Scott A Nivison +2
The objective of this research is to enable safety-critical systems to simultaneously learn and execute optimal control policies in a safe manner to achieve complex autonomy. Learn…
Safety aware model-based reinforcement learning for optimal control of a class of output-feedback nonlinear systems
S M Nahid Mahmud, Moad Abudia, Scott A Nivison +2
The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems…
Asynchronous Zeroth-Order Distributed Optimization with Residual Feedback
Yi Shen, Yan Zhang, Scott Nivison +2
We consider a zeroth-order distributed optimization problem, where the global objective function is a black-box function and, as such, its gradient information is inaccessible to t…
Safe Model-Based Reinforcement Learning for Systems with Parametric Uncertainties
S M Nahid Mahmud, Scott A Nivison, Zachary I. Bell +1
Reinforcement learning has been established over the past decade as an effective tool to find optimal control policies for dynamical systems, with recent focus on approaches that g…
A Switched Systems Approach to Path Following with Intermittent State Feedback
Hsi-Yuan Chen, Zachary I. Bell, Patryk Deptula +1
Autonomous agents are often tasked with operating in an area where feedback is unavailable. Inspired by such applications, this paper develops a novel switched systems-based contro…