1 citations · 2 across the 22 of their papers we have counts for
8 papers · 1 filter
KALIKO: Kalman-Implicit Koopman Operator Learning For Prediction of Nonlinear Dynamical Systems
Albert H. Li, Ivan Dario Jimenez Rodriguez, Joel W. Burdick +2
Long-horizon dynamical prediction is fundamental in robotics and control, underpinning canonical methods like model predictive control. Yet, many systems and disturbance phenomena…
Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation
Pol Mestres, Shima Sadat Mousavi, Pio Ong +4
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it…
Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Tamas G. Molnar +2
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer…
Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach
Ersin Das, William A. Welch, Patrick Spieler +14
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload…
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Ersin Das, Rahal Nanayakkara, Xiao Tan +4
Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state informa…
AI Space Cortex: An Experimental System for Future Era Space Exploration
Thomas Touma, Ersin Daş, Erica Tevere +9
Our Robust, Explainable Autonomy for Scientific Icy Moon Operations (REASIMO) effort contributes to NASA's Concepts for Ocean worlds Life Detection Technology (COLDTech) program, w…
Uncertainty Estimators for Robust Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Anil Alan +5
Designing safe controllers is crucial and notoriously challenging for input-constrained safety-critical control systems. Backup control barrier functions offer an approach for the…
Generative Predictive Control: Flow Matching Policies for Dynamic and Difficult-to-Demonstrate Tasks
Vince Kurtz, Joel W. Burdick
Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by…