7 papers
Continuous-Time Gaussian Belief Trees for Motion Planning
Rayan Mazouz, Qi Heng Ho, Zachary N. Sunberg +1
We address sampling-based motion planning for continuous-time stochastic systems under process and measurement uncertainty, with probabilistic guarantees on safety and performance.…
StochasticBarrier.jl: A Toolbox for Stochastic Barrier Function Synthesis
Rayan Mazouz, Frederik Baymler Mathiesen, Luca Laurenti +1
We present StochasticBarrier.jl, an open-source Julia-based toolbox for generating Stochastic Barrier Functions (SBFs) for safety verification of discrete-time stochastic systems w…
Modeling and Control for Distributed Measurements of the Earth's Energy Imbalance
Rayan Mazouz, Marco Quadrelli, Rashied Amini +3
This paper presents a modeling and control framework for distributed systems in low Earth orbit, with the scientific objective of obtaining high accuracy estimates of the Earth's E…
Stochastic Barrier Certificates in the Presence of Dynamic Obstacles
Rayan Mazouz, Luca Laurenti, Morteza Lahijanian
Safety of stochastic dynamic systems in environments with dynamic obstacles is studied in this paper through the lens of stochastic barrier functions. We introduce both time-invari…
Time-Varying Reach-Avoid Control Certificates for Stochastic Systems
Rayan Mazouz, Luca Laurenti, Morteza Lahijanian
Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more comp…
Piecewise Control Barrier Functions for Stochastic Systems
Rayan Mazouz, Luca Laurenti, Morteza Lahijanian
This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on pi…