33 citations · 44 across the 11 of their papers we have counts for
3 papers · 1 filter
Safety Critical Model Predictive Control Using Discrete-Time Control Density Functions
Sriram S. K. S. Narayanan, Sajad Ahmadi, Javad Mohammadpour Velni +1
This paper presents MPC-CDF, a new approach integrating control density functions (CDFs) within a model predictive control (MPC) framework to ensure safety-critical control in nonl…
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…