4 citations · 12 across the 24 of their papers we have counts for
5 papers · 1 filter
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
Manan Tayal, Aditya Singh, Pushpak Jagtap +1
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide sa…
Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
Aryan Agarwal, Ravi Agrawal, Manan Tayal +2
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends…
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
GVS Mothish, Manan Tayal, Shishir Kolathaya
Locomotion on unknown terrains is essential for bipedal robots to handle novel real-world challenges, thus expanding their utility in disaster response and exploration. In this wor…
Learning a Formally Verified Control Barrier Function in Stochastic Environment
Manan Tayal, Hongchao Zhang, Pushpak Jagtap +2
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or s…
A Collision Cone Approach for Control Barrier Functions
Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal +5
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We prop…