17 citations · 21 across the 14 of their papers we have counts for
17 papers
Learning Safe Humanoid Navigation from Reduced Order Models
William D. Compton, Zachary Olkin, Ryan Bena +1
Research in humanoid robotics has achieved rapid progress in locomotion, and recent results have pushed the boundary on autonomous navigation. We demonstrate that a standard single…
Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety f…
Decoding Defensive Coverage Responsibilities in American Football Using Factorized Attention Based Transformer Models
Kevin Song, Evan Diewald, Ornob Siddiquee +4
Defensive coverage schemes in the National Football League (NFL) represent complex tactical patterns requiring coordinated assignments among defenders who must react dynamically to…
Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions
Lizhi Yang, Ryan M. Bena, Meg Wilkinson +4
Traditional safety-critical control methods, such as control barrier functions, suffer from semantic blindness, exhibiting the same behavior around obstacles regardless of contextu…
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a b…
A Class of Axis-Angle Attitude Control Laws for Rotational Systems
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternio…
A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as…
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
Gilbert Bahati, Ryan M. Bena, Meg Wilkinson +3
Robotic systems navigating in real-world settings require a semantic understanding of their environment to properly determine safe actions. This work aims to develop the mathematic…
Matrix Control Barrier Functions
Pio Ong, Yicheng Xu, Ryan M. Bena +2
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe set…
Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC
Ryan M. Bena, Gilbert Bahati, Blake Werner +3
Autonomous navigation through unstructured and dynamically-changing environments is a complex task that continues to present many challenges for modern roboticists. In particular,…
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Ersin Das, Rahal Nanayakkara, Xiao Tan +4
Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state informa…
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Gilbert Bahati, Ryan M. Bena, Aaron D. Ames
Synthesizing safe sets for robotic systems operating in complex and dynamically changing environments is a challenging problem. Solving this problem can enable the construction of…
Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree
Gilbert Bahati, Ryan K. Cosner, Max H. Cohen +2
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work…
Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The…
A Lyapunov-Based Switching Scheme for Selecting the Stable Closed-Loop Fixed Attitude-Error Quaternion During Flight
Francisco M. F. R. Goncalves, Ryan M. Bena, Konstantin I. Matveev +1
We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed…
Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments
Ryan M. Bena, Chongbo Zhao, Quan Nguyen
Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions.…
MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight
Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev +1
We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV)…