124 citations · 140 across the 13 of their papers we have counts for
5 papers · 1 filter
Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor +7
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conser…
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker +2
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting…
Interactive multi-modal motion planning with Branch Model Predictive Control
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker +2
Motion planning for autonomous robots and vehicles in presence of uncontrolled agents remains a challenging problem as the reactive behaviors of the uncontrolled agents must be con…
Model-Free Safety-Critical Control for Robotic Systems
Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary +2
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthe…
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
Wyatt Ubellacker, Noel Csomay-Shanklin, Tamas G. Molnar +1
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This archit…