11 citations · 34 across the 20 of their papers we have counts for
23 papers
Safe Receding-Horizon Control of Fixed-Wing Aircraft Using Constrained Approximate Dynamic Programming
Felipe Arenas-Uribe, Ricardo Gutierrez, Jesse B. Hoagg
We present a receding-horizon optimal control for fixed-wing aircraft subject to state constraints. These constraints include operational constraints such as altitude, geofencing,…
Safe Position and Attitude Control for Landing on Small Celestial Bodies with Gravitational Uncertainty
Felipe Arenas-Uribe, T. Michael Seigler, Jesse B. Hoagg
Landing on small celestial bodies is challenging because the spacecraft must satisfy safety and actuator constraints despite gravitational forces that are difficult to model accura…
Predicted-Flow Control Barrier Functions for Non-Control-Affine Systems
Amirsaeid Safari, Jesse B. Hoagg
Control barrier functions (CBFs) enforce safety through conditions imposed pointwise in time without consideration of state evolution over a future horizon. Thus, CBF-based control…
Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control
Amirsaeid Safari, Jesse B. Hoagg
Control barrier functions (CBFs) provide real-time safety guarantees through pointwise conditions on the state. However, synthesizing a valid CBF is difficult and the resulting con…
Receding-Horizon Nonlinear Optimal Control With Safety Constraints Using Constrained Approximate Dynamic Programming
Ricardo Gutierrez, Jesse B. Hoagg
We present a receding-horizon optimal control for nonlinear continuous-time systems subject to state constraints. The cost is a quadratic finite-horizon integral. The key enabling…
Experimental Demonstration of a Decentralized Electromagnetic Formation Flying Control Using Alternating Magnetic Field Forces
Sumit S. Kamat, Ajin Sunny, T. Michael Seigler +1
Electromagnetic formation flying (EMFF) is challenging due to the complex coupling between the electromagnetic fields generated by each satellite in the formation. To address this…
Geometric Conditions for Lossless Convexification in Linear Optimal Control with Discrete-Valued Inputs: Real-Time Implementation for Spacecraft Rendezvous
Felipe Arenas-Uribe, Hasan A. Poonawala, Jesse B. Hoagg
Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critic…
Safe Landing on Small Celestial Bodies with Gravitational Uncertainty Using Disturbance Estimation and Control Barrier Functions
Felipe Arenas-Uribe, T. Michael Seigler, Jesse B. Hoagg
Soft landing on small celestial bodies (SCBs) poses unique challenges, as gravitational models poorly characterize the higher-order gravitational effects of SCBs. Existing control…
Electromagnetic Formation Flying Using Alternating Magnetic Field Forces and Control Barrier Functions for State and Input Constraints
Sumit S. Kamat, T. Michael Seigler, Jesse B. Hoagg
This article presents a feedback control algorithm for electromagnetic formation flying with constraints on the satellites' states and control inputs. The algorithm combines severa…
Control Barrier Functions With Real-Time Gaussian Process Modeling
Ricardo Gutierrez, Jesse B. Hoagg
We present an approach for satisfying state constraints in systems with nonparametric uncertainty by estimating this uncertainty with a real-time-update Gaussian process (GP) model…
Electromagnetic Formation Flying with State and Input Constraints Using Alternating Magnetic Field Forces
Sumit S. Kamat, T. Michael Seigler, Jesse B. Hoagg
This article presents a feedback control algorithm for electromagnetic formation flying with constraints on the satellites' states and control inputs. The algorithm combines severa…
Adaptive Control Barrier Functions with Vanishing Conservativeness Under Persistency of Excitation
Ricardo Gutierrez, Jesse B. Hoagg
This article presents a closed-form adaptive controlbarrier-function (CBF) approach for satisfying state constraints in systems with parametric uncertainty. This approach uses a sa…
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…
Safe Navigation in Unmapped Environments for Robotic Systems with Input Constraints
Amirsaeid Safari, Jesse B. Hoagg
This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider…
Time-Varying Soft-Maximum Barrier Functions for Safety in Unmapped and Dynamic Environments
Amirsaeid Safari, Jesse B. Hoagg
We present a closed-form optimal feedback control method that ensures safety in an a prior unknown and potentially dynamic environment. This article considers the scenario where lo…
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…
Control Barrier Function Based UAV Safety Controller in Autonomous Airborne Tracking and Following Systems
Promit Panja, Jesse B. Hoagg, Sabur Baidya
Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs ne…
Time-Varying Soft-Maximum Control Barrier Functions for Safety in an A Priori Unknown Environment
Amirsaeid Safari, Jesse B. Hoagg
This paper presents a time-varying soft-maximum composite control barrier function (CBF) that can be used to ensure safety in an a priori unknown environment, where local perceptio…
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…
Multivariable Adaptive Harmonic Steady-State Control for Rejection of Sinusoidal Disturbances Acting on an Unknown System
Mohammadreza Kamaldar, Jesse B. Hoagg
This paper presents an adaptive harmonic steady-state (AHSS) controller, which addresses the problem of rejecting sinusoids with known frequencies that act on a completely unknown…