3 citations · 3 across the 5 of their papers we have counts for
5 papers
Using Dynamic Safety Margins as Control Barrier Functions
Victor Freire, Marco M. Nicotra
This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particul…
Designing Control Barrier Functions Using a Dynamic Backup Policy
Victor Freire, Marco M. Nicotra
This paper presents a systematic approach to construct control barrier functions for nonlinear control affine systems subject to arbitrary state and input constraints. Taking inspi…
Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators
Yaashia Gautam, Gilberto Briscoe-Martinez, Adhitya Mohan +3
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment unde…
A Semi-smooth Newton Method for the Constrained Optimal Control of Continuous-Time Linear Systems
Simon J. Jones, Dominic Liao-McPherson, Marco M. Nicotra
This paper details a novel indirect method for solving constrained optimal control problems (OCPs) directly in continuous-time function space. The KKT conditions are embedded in a…
Moving On, Even When You're Broken: Fail-Active Trajectory Generation via Diffusion Policies Conditioned on Embodiment and Task
Gilberto G. Briscoe-Martinez, Yaashia Gautam, Rahul Shetty +3
Robot failure is detrimental and disruptive, often requiring human intervention to recover. Our vision is 'fail-active' operation, allowing robots to safely complete their tasks ev…