76 citations · 102 across the 23 of their papers we have counts for
5 papers · 1 filter
Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation
Yitaek Kim, Ersin Das, Jeeseop Kim +3
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presenc…
Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints
Xiao Tan, Ersin Das, Aaron D. Ames +1
We propose a novel zero-order control barrier function (ZOCBF) for sampled-data systems to ensure system safety. Our formulation generalizes conventional control barrier functions…
Bayesian Optimal Experimental Design for Robot Kinematic Calibration
Ersin Das, Thomas Touma, Joel W. Burdick
This paper develops a Bayesian optimal experimental design for robot kinematic calibration on . Our method builds upon a Gaussian process ap…
Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety
Ersin Das, Aaron D. Ames, Joel W. Burdick
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety m…
Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots
Ersin Das, Joel W. Burdick
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framewor…