1 citations · 2 across the 22 of their papers we have counts for
5 papers · 1 filter
Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation
Yitaek Kim, Ersin Das, Jeeseop Kim +3
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presenc…
Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints
Xiao Tan, Ersin Das, Aaron D. Ames +1
We propose a novel zero-order control barrier function (ZOCBF) for sampled-data systems to ensure system safety. Our formulation generalizes conventional control barrier functions…
Equality Constrained Diffusion for Direct Trajectory Optimization
Vince Kurtz, Joel W. Burdick
The recent success of diffusion-based generative models in image and natural language processing has ignited interest in diffusion-based trajectory optimization for nonlinear contr…
Supervised Learning for Stochastic Optimal Control
Vince Kurtz, Joel W. Burdick
Supervised machine learning is powerful. In recent years, it has enabled massive breakthroughs in computer vision and natural language processing. But leveraging these advances for…
Bayesian Optimal Experimental Design for Robot Kinematic Calibration
Ersin Das, Thomas Touma, Joel W. Burdick
This paper develops a Bayesian optimal experimental design for robot kinematic calibration on . Our method builds upon a Gaussian process ap…