5 papers
Real-Time Synthesis of Robust Controlled Invariant Sets for Monotone Systems
Yasin Sonmez, Mahmoud Khaled, Majid Zamani +1
Safety-critical control of autonomous systems requires formal safety certificates, such as controlled invariant sets, that must be computed online as conditions change. Although st…
Learning Neural Network Controllers with Certified Robust Performance via Adversarial Training
Neelay Junnarkar, Yasin Sonmez, Murat Arcak
Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturban…
Congestion Reduction in EV Charger Placement Using Traffic Equilibrium Models
Semih Kara, Yasin Sonmez, Can Kizilkale +3
Growing EV adoption can worsen traffic conditions if chargers are sited without regard to their impact on congestion. We study how to strategically place EV chargers to reduce cong…
Learning to Drive by Imitating Surrounding Vehicles
Yasin Sonmez, Hanna Krasowski, Murat Arcak
Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imita…
Exploiting Symmetry in Dynamics for Model-Based Reinforcement Learning with Asymmetric Rewards
Yasin Sonmez, Neelay Junnarkar, Murat Arcak
Recent work in reinforcement learning has leveraged symmetries in the model to improve sample efficiency in training a policy. A commonly used simplifying assumption is that the dy…