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eess.SY2025
SAFE--MA--RRT: Multi-Agent Motion Planning with Data-Driven Safety Certificates
Babak Esmaeili, Hamidreza Modares
This paper proposes a fully data-driven motion-planning framework for homogeneous linear multi-agent systems that operate in shared, obstacle-filled workspaces without access to ex…
eess.SY2025
Data-Driven Motion Planning for Uncertain Nonlinear Systems
Babak Esmaeili, Hamidreza Modares, Stefano Di Cairano
This paper proposes a data-driven motion-planning framework for nonlinear systems that constructs a sequence of overlapping invariant polytopes. Around each randomly sampled waypoi…
eess.SY2025
Risk-Aware Safe Reinforcement Learning for Control of Stochastic Linear Systems
Babak Esmaeili, Nariman Niknejad, Hamidreza Modares
This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically int…