4 papers
A Spectral Perspective on Stochastic Control Barrier Functions
Inkyu Jang, Chams E. Mballo, Claire J. Tomlin +1
Stochastic control barrier functions (SCBFs) provide a safety-critical control framework for systems subject to stochastic disturbances by bounding the probability of remaining wit…
A Hamilton-Jacobi Reachability Framework with Soft Constraints for Safety-Critical Systems
Chams Eddine Mballo, Donggun Lee, Claire J. Tomlin
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in…
EigenSafe: A Spectral Framework for Learning-Based Probabilistic Safety Assessment
Inkyu Jang, Jonghae Park, Sihyun Cho +3
We present EigenSafe, an operator-theoretic framework for safety assessment of learning-enabled stochastic systems. In many robotic applications, the dynamics are inherently stocha…
Load Limiting Control for Component Life Extension
Chams Eddine Mballo, Robert Walters, Jonnalagadda V. R. Prasad
This paper presents the development of a novel life-extending control scheme for critical helicopter components subjected to significant fatigue loading. The primary objective is t…