6 papers
Port-Transversal Barriers: Graph-Theoretic Safety for Port-Hamiltonian Systems
Chi Ho Leung, Philip E. Paré
Synthesizing control barrier functions (CBFs) for complex nonlinear systems remains difficult, particularly when safety constraints have high relative degree with respect to the in…
Bayesian Safety Guarantees for Port-Hamiltonian Systems with Learned Energy Functions
Chi Ho Leung, Philip E. Paré
Control barrier functions for port-Hamiltonian systems inherit model uncertainty when the Hamiltonian is learned from data. We show how to propagate this uncertainty into a safety…
Collaborative Safety-Critical Formation Control with Obstacle Avoidance
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control l…
Online Identification of Time-Varying Systems Using Excitation Sets and Change Point Detection
Chi Ho Leung, Ashish R. Hota, Philip E. Paré
In this work, we first show that the problem of parameter identification is often ill-conditioned and lacks the persistence of excitation required for the convergence of online lea…
Adaptive Identification of SIS Models
Chi Ho Leung, William E. Retnaraj, Ashish R. Hota +1
Effective containment of spreading processes such as epidemics requires accurate knowledge of several key parameters that govern their dynamics. In this work, we first show that th…
Collaborative Safe Formation Control for Coupled Multi-Agent Systems
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles…