11 citations · 32 across the 8 of their papers we have counts for
8 papers
Guaranteed-Safe MPPI Through Composite Control Barrier Functions for Efficient Sampling in Multi-Constrained Robotic Systems
Pedram Rabiee, Jesse B. Hoagg
We present a new guaranteed-safe model predictive path integral (GS-MPPI) control algorithm that enhances sample efficiency in nonlinear systems with multiple safety constraints. T…
A Closed-Form Control for Safety Under Input Constraints Using a Composition of Control Barrier Functions
Pedram Rabiee, Jesse B. Hoagg
We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multi…
Implementation of Linear Parameter Varying System to Investigate the Impact of Varying Flow Rate on the Lithium-ion Batteries Thermal Management System Performance
Pedram Rabiee, Mohammad Hassan Saidi
Battery thermal management system is an indispensable part of the electric vehicles working with Lithium-ion batteries. Accordingly, lithium-ion batteries modeling, battery heat ge…
Safe Exploration in Reinforcement Learning: Training Backup Control Barrier Functions with Zero Training Time Safety Violations
Pedram Rabiee, Amirsaeid Safari
This paper introduces the reinforcement learning backup shield (RLBUS), an algorithm that guarantees safe exploration in reinforcement learning (RL) by incorporating backup control…
Composition of Control Barrier Functions With Differing Relative Degrees for Safety Under Input Constraints
Pedram Rabiee, Jesse B. Hoagg
This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). Firs…
The Impact of Reference-Command Preview on Human-in-the-Loop Control Behavior
Pedram Rabiee, S. Alireza Seyyed Mousavi, Amelia J. S. Sheffler +5
This article presents results from an experiment in which 44 human subjects interact with a dynamic system to perform 40 trials of a command-following task. The reference command i…
Soft-Minimum and Soft-Maximum Barrier Functions for Safety with Actuation Constraints
Pedram Rabiee, Jesse B. Hoagg
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control si…
Soft-Minimum Barrier Functions for Safety-Critical Control Subject to Actuation Constraints
Pedram Rabiee, Jesse B. Hoagg
This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signal…