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eess.SY2025
Back to Base: Towards Hands-Off Learning via Safe Resets with Reach-Avoid Safety Filters
Azra Begzadić, Nikhil Uday Shinde, Sander Tonkens +5
Designing controllers that accomplish tasks while guaranteeing safety constraints remains a significant challenge. We often want an agent to perform well in a nominal task, such as…
eess.SY2024
Safe Event-triggered Gaussian Process Learning for Barrier-Constrained Control
Armin Lederer, Azra Begzadić, Sandra Hirche +2
While control barrier functions (CBFs) are employed in addressing safety, control synthesis methods based on them generally rely on accurate system dynamics. This is a critical lim…
eess.SY2022
Safe Learning-Based Control of Elastic Joint Robots via Control Barrier Functions
Armin Lederer, Azra Begzadić, Neha Das +1
Ensuring safety is of paramount importance in physical human-robot interaction applications. This requires both adherence to safety constraints defined on the system state, as well…