2 papers
eess.SY2024
Learning to Provably Satisfy High Relative Degree Constraints for Black-Box Systems
Jean-Baptiste Bouvier, Kartik Nagpal, Negar Mehr
In this paper, we develop a method for learning a control policy guaranteed to satisfy an affine state constraint of high relative degree in closed loop with a black-box system. Pr…
math.OC2022
Real-Time Quadrotor Trajectory Optimization with Time-Triggered Corridor Constraints
Yue Yu, Kartik Nagpal, Skye Mceowen +2
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories,…