5 papers
Reachable Predictive Control: A Novel Control Algorithm for Nonlinear Systems with Unknown Dynamics and its Practical Applications
Taha Shafa, Yiming Meng, Melkior Ornik
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure…
Guaranteed Reachability on Riemannian Manifolds for Unknown Nonlinear Systems
Taha Shafa, Melkior Ornik
Determining the reachable set for a given nonlinear system is critically important for autonomous trajectory planning for reach-avoid applications and safety critical scenarios. Pr…
Online Learning and Control Synthesis for Reachable Paths of Unknown Nonlinear Systems
Yiming Meng, Taha Shafa, Jesse Wei +1
In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and…
Identifying Single-Input Linear System Dynamics from Reachable Sets
Taha Shafa, Roy Dong, Melkior Ornik
This paper is concerned with identifying linear system dynamics without the knowledge of individual system trajectories, but from the knowledge of the system's reachable sets obser…
Reachability of Nonlinear Systems with Unknown Dynamics
Taha Shafa, Melkior Ornik
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics…