15 citations · 36 across the 16 of their papers we have counts for
16 papers
GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
Keyvan Majd, Hardik Parwana, Bardh Hoxha +3
Articulated vehicles such as tractor-trailers, yard trucks, and similar platforms must often reverse and maneuver in cluttered spaces where pedestrians are present. We present how…
BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
Hardik Parwana, Taekyung Kim, Kehan Long +4
Model Predictive Path Integral (MPPI) control provides a sampling-based framework for optimal control, while Control Barrier Functions (CBFs) provide a principled means of enforcin…
MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments
Victoria Marie Tuck, Hardik Parwana, Pei-Wei Chen +5
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environm…
Enabling Safety for Aerial Robots: Planning and Control Architectures
Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson +6
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspecti…
Risk-aware MPPI for Stochastic Hybrid Systems
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Path Planning for stochastic hybrid systems presents a unique challenge of predicting distributions of future states subject to a state-dependent dynamics switching function. In th…
Neural Configuration Distance Function for Continuum Robot Control
Kehan Long, Hardik Parwana, Georgios Fainekos +3
This paper presents a novel method for modeling the shape of a continuum robot as a Neural Configuration Euclidean Distance Function (N-CEDF). By learning separate distance fields…
Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
Hardik Parwana, Mitchell Black, Georgios Fainekos +3
The rapid advancement of robotics necessitates robust tools for developing and testing safe control architectures in dynamic and uncertain environments. Ensuring safety and reliabi…
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner +3
We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical system…
Advances in the Theory of Control Barrier Functions: Addressing Practical Challenges in Safe Control Synthesis for Autonomous and Robotic Systems
Kunal Garg, James Usevitch, Joseph Breeden +4
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe control…
Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF) based constraints have been used to design safety-critical controllers. However, ensuring…
Algorithms for Finding Compatible Constraints in Receding-Horizon Control of Dynamical Systems
Hardik Parwana, Ruiyang Wang, Dimitra Panagou
This paper addresses synthesizing receding-horizon controllers for nonlinear, control-affine dynamical systems under multiple incompatible hard and soft constraints. Handling incom…
Rate-Tunable Control Barrier Functions: Methods and Algorithms for Online Adaptation
Hardik Parwana, Dimitra Panagou
Control Barrier Functions offer safety certificates by dictating controllers that enforce safety constraints. However, their response depends on the classK function that is used to…
FORESEE: Prediction with Expansion-Compression Unscented Transform for Online Policy Optimization
Hardik Parwana, Dimitra Panagou
Propagating state distributions through a generic, uncertain nonlinear dynamical model is known to be intractable and usually begets numerical or analytical approximations. We intr…
Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent Systems
Hardik Parwana, Dimitra Panagou
For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and ad…
Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex Optimization Policies for Safety-Critical Systems
Hardik Parwana, Dimitra Panagou
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{…
Quaternions and Attitude Representation
Hardik Parwana, Mangal Kothari
The attitude space has been parameterized in various ways for practical purposes. Different representations gain preferences over others based on their intuitive understanding, eas…