5 papers
Learning Input-Constrained Funnel Controllers from State Trajectory Data
Panagiotis S. Trakas, Omid Mirzaeedodangeh, Lars Lindemann
Designing feedback controllers that satisfy predefined performance specifications while enforcing hard input constraints is a challenging task. Our work is motivated by the idea th…
Robust Conformal CBF and CLF Controllers via Iterative Policy Updates
Omid Mirzaeedodangeh, Eliot Shekhtman, Nikolai Matni +1
Conformal prediction (CP) has been used to obtain probabilistic bounds on the error between a learned dynamics model and the true but unknown system. Such CP bounds can then be emb…
Sample-Efficient Expert Query Control in Active Imitation Learning via Conformal Prediction
Arad Firouzkouhi, Omid Mirzaeedodangeh, Lars Lindemann
Active imitation learning (AIL) combats covariate shift by querying an expert during training. However, expert action labeling often dominates the cost, especially in GPU-intensive…
Safe Planning in Interactive Environments via Iterative Policy Updates and Adversarially Robust Conformal Prediction
Omid Mirzaeedodangeh, Eliot Shekhtman, Nikolai Matni +1
Safe planning of an autonomous agent in interactive environments -- such as the control of a self-driving vehicle among pedestrians -- poses a major challenge as the behavior of th…
3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates
Omid Mirzaeedodangeh, Farhad Mehdifar, Dimos V. Dimarogonas
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Sp…