4 papers
A Shared-Autonomy Construction Robotic System for Overhead Works
David Minkwan Kim, K. M. Brian Lee, Yong Hyeok Seo +11
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a b…
Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions
Kehan Long, Jorge Cortés, Nikolay Atanasov
Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of sys…
Safe Control of Second-Order Systems with Linear Constraints
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given…
Safety-Critical Control of Discontinuous Systems with Nonsmooth Safe Sets
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and inte…