8 papers · 1 filter
Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions
William D. Compton, Max H. Cohen, Aaron D. Ames
Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems. It is often easier to synthesize CBFs for a Reduced…
Safety-Critical Controller Synthesis with Reduced-Order Models
Max H. Cohen, Noel Csomay-Shanklin, William D. Compton +2
Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous wo…
Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice
William D. Compton, Noel Csomay-Shanklin, Cole Johnson +1
Safe navigation of cluttered environments is a critical challenge in robotics. It is typically approached by separating the planning and tracking problems, with planning executed o…
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes
Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be…
Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures
Noel Csomay-Shanklin, Aaron D. Ames
Control architectures are often implemented in a layered fashion, combining independently designed blocks to achieve complex tasks. Providing guarantees for such hierarchical frame…
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
Zachary Olkin, Aaron D. Ames
Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in re…
Robust Agility via Learned Zero Dynamics Policies
Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez +3
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a map…
Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies
William Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin +2
Stabilizing underactuated systems is an inherently challenging control task due to fundamental limitations on how the control input affects the unactuated dynamics. Decomposing the…