12 citations · 19 across the 18 of their papers we have counts for
6 papers · 1 filter
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…