2 citations · 2 across the 4 of their papers we have counts for
6 papers
From Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints
Shima Sadat Mousavi, Xiao Tan, Aaron D. Ames
This paper develops certificates that propagate compatibility of multiple control barrier function (CBF) constraints from sampled vertices to their convex hull. Under mild concavit…
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…
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…
Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
Kejun Li, Jeeseop Kim, Maxime Brunet +3
Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predict…
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…