8 citations · 16 across the 10 of their papers we have counts for
10 papers
Model-Free Based Computations of Recursive Control Barrier Function: Ultra-Local Model Approach
Loïc Michel, Ricardo de Castro, Joseph Moyalan +2
Control barrier functions (CBFs) provide a systematic framework for enforcing safety constraints in nonlinear control systems. However, their implementation typically relies on acc…
Equivalent Circuit Model based Electric Vehicle Evacuation with Mobile Charging Stations
Joseph Moyalan, Ricardo de Castro, Shuang Feng +3
The increasing penetration of electric vehicles (EVs) introduces new challenges for emergency evacuation planning due to limited driving range, long charging times, and constrained…
Safe Navigation in Dynamic Environments using Density Functions
Sriram S. K. S Narayanan, Joseph Moyalan, Umesh Vaidya
This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an…
Control Density Function for Robust Safety and Convergence
Joseph Moyalan, Sriram S. K. S Narayanan, Umesh Vaidya
We introduce a novel approach for safe control design based on the density function. A control density function (CDF) is introduced to synthesize a safe controller for a nonlinear…
Synthesizing Controller for Safe Navigation using Control Density Function
Joseph Moyalan, Sriram S. K. S Narayanan, Andrew Zheng +1
We consider the problem of navigating a nonlinear dynamical system from some initial set to some target set while avoiding collision with an unsafe set. We extend the concept of de…
Data-driven optimal control under safety constraints using sparse Koopman approximation
Hongzhe Yu, Joseph Moyalan, Umesh Vaidya +1
In this work we approach the dual optimal reach-safe control problem using sparse approximations of Koopman operator. Matrix approximation of Koopman operator needs to solve a leas…
Off-Road Navigation of Legged Robots Using Linear Transfer Operators
Joseph Moyalan, Andrew Zheng, Sriram S. K. S Narayanan +1
This paper presents the implementation of off-road navigation on legged robots using convex optimization through linear transfer operators. Given a traversability measure that capt…
Data-Driven Convex Approach to Off-road Navigation via Linear Transfer Operators
Joseph Moyalan, Yongxin Chen, Umesh Vaidya
We consider the problem of optimal navigation control design for navigation on off-road terrain. We use traversability measure to characterize the degree of difficulty of navigatio…
Navigation with Probabilistic Safety Constraints: Convex Formulation
Joseph Moyalan, Yongxin Chen, Umesh Vaidya
We consider the problem of navigation with safety constraints. The safety constraints are probabilistic, where a given set is assigned a degree of safety, a number between zero and…
Data-Driven Optimal Control via Linear Transfer Operators: A Convex Approach
Joseph Moyalan, Hyungjin Choi, Yongxin Chen +1
This paper is concerned with data-driven optimal control of nonlinear systems. We present a convex formulation to the optimal control problem (OCP) with a discounted cost function.…