12 citations · 19 across the 18 of their papers we have counts for
18 papers
Safe, Real-Time Active Model Discrimination and Fault Diagnosis for Nonlinear Systems via Differentiable Reachability
Xinpei Ni, Melkior Ornik, Glen Chou +1
We present a safe, real-time algorithm for active fault diagnosis and model discrimination for uncertain continuous-time nonlinear systems with process and measurement disturbances…
Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error
David E. J. van Wijk, Tamas G. Molnar, Samuel Coogan +3
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bound…
Differentiable Invariant Sets for Hybrid Limit Cycles with Application to Legged Robots
Varun Madabushi, Akash Harapanahalli, Samuel Coogan +1
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However,…
Learning Certified Neural Network Controllers Using Contraction and Interval Analysis
Akash Harapanahalli, Samuel Coogan, Alexander Davydov
We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound prop…
Efficient Norm-Based Reachable Sets via Iterative Dynamic Programming
Akash Harapanahalli, Samuel Coogan
In this work, we present a numerical optimal control framework for reachable set computation using \emph{normotopes}, a new set representation as a norm ball with a shaping matrix.…
Automatic and Scalable Safety Verification using Interval Reachability with Subspace Sampling
Brendan Gould, Akash Harapanahalli, Samuel Coogan
Interval refinement is a technique for reducing the conservatism of traditional interval based reachability methods by lifting the system to a higher dimension using new auxiliary…
linrax: A JAX Compatible, Simplex Method Linear Program Solver
Brendan Gould, Akash Harapanahalli, Samuel Coogan
We present linrax, the first simplex based linear program (LP) solver compatible with the JAX ecosystem. In many control algorithms, LPs are often automatically generated and frequ…
Parametric Reachable Sets Via Controlled Dynamical Embeddings
Akash Harapanahalli, Samuel Coogan
In this work, we propose a new framework for reachable set computation through continuous evolution of a set of parameters and offsets which define a parametope, through the inters…
Uncertainty Estimators for Robust Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Anil Alan +5
Designing safe controllers is crucial and notoriously challenging for input-constrained safety-critical control systems. Backup control barrier functions offer an approach for the…
A Linear Differential Inclusion for Contraction Analysis to Known Trajectories
Akash Harapanahalli, Samuel Coogan
Infinitesimal contraction analysis provides exponential convergence rates between arbitrary pairs of trajectories of a system by studying the system's linearization. An essentially…
A Global Coordinate-Free Approach to Invariant Contraction on Homogeneous Manifolds
Akash Harapanahalli, Samuel Coogan
In this work, we provide a global condition for contraction with respect to an invariant Riemannian metric on reductive homogeneous spaces. Using left-invariant frames, vector fiel…
Disturbance-Robust Backup Control Barrier Functions: Safety Under Uncertain Dynamics
David E. J. van Wijk, Samuel Coogan, Tamas G. Molnar +2
Obtaining a controlled invariant set is crucial for safety-critical control with control barrier functions (CBFs) but is non-trivial for complex nonlinear systems and constraints.…
Certified Robust Invariant Polytope Training in Neural Controlled ODEs
Akash Harapanahalli, Samuel Coogan
We propose a framework for training neural network controllers with certified robust forward invariant polytopes. First, we parameterize a family of lifted control systems in a hig…
Efficient Reachable Sets on Lie Groups Using Lie Algebra Monotonicity and Tangent Intervals
Akash Harapanahalli, Samuel Coogan
In this paper, we efficiently compute overapproximating reachable sets for control systems evolving on Lie groups, building off results from monotone systems theory and geometric i…
: A Parallelizable and Differentiable Toolbox for Interval Analysis and Mixed Monotone Reachability in JAX
Akash Harapanahalli, Saber Jafarpour, Samuel Coogan
We present an implementation of interval analysis and mixed monotone interval reachability analysis as function transforms in Python, fully composable with the computational framew…
A Contracting Dynamical System Perspective toward Interval Markov Decision Processes
Saber Jafarpour, Samuel Coogan
Interval Markov decision processes are a class of Markov models where the transition probabilities between the states belong to intervals. In this paper, we study the problem of ef…
Interval Signal Temporal Logic from Natural Inclusion Functions
Luke Baird, Akash Harapanahalli, Samuel Coogan
We propose an interval extension of Signal Temporal Logic (STL) called Interval Signal Temporal Logic (\ISTL). Given an STL formula, we consider an interval inclusion function for…
Forward Invariance in Neural Network Controlled Systems
Akash Harapanahalli, Saber Jafarpour, Samuel Coogan
We present a framework based on interval analysis and monotone systems theory to certify and search for forward invariant sets in nonlinear systems with neural network controllers.…