Showing math.OCShow all
2 papers · 1 filter
math.OC2023
How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems
Oswin So, Zachary Serlin, Makai Mann +4
Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to cons…
math.OC2022
Data-Driven Stochastic Optimal Control Using Kernel Gradients
Adam J. Thorpe, Jake A. Gonzales, Meeko M. K. Oishi
We present an empirical, gradient-based method for solving data-driven stochastic optimal control problems using the theory of kernel embeddings of distributions. By embedding the…