1 citations · 1 across the 3 of their papers we have counts for
5 papers
A Recursive CBF Framework for Safety under State Uncertainty
Rahal Nanayakkara, Aaron D. Ames, Paulo Tabuada
The practical implementation of Control Barrier Functions (CBFs) for safety-critical control is often hindered by uncertainty in the knowledge of the state. While existing robust C…
Predicting Viral Evolution from a Single Early Measurement Using the Target Cell Limited Model
Rahal Nanayakkara, Paulo Tabuada
Recent advances in diagnostic techniques have enabled the accurate quantification of early-stage viral loads. A key problem of interest is translating these measurements into predi…
A Duality-Based Optimization Formulation of Safe Control Design with State Uncertainties
Xiao Tan, Rahal Nanayakkara, Paulo Tabuada +1
State estimation uncertainty is prevalent in real-world applications, hindering the application of safety-critical control. Existing methods address this by strengthening a Control…
Safety Under State Uncertainty: Robustifying Control Barrier Functions
Rahal Nanayakkara, Aaron D. Ames, Paulo Tabuada
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However,…
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Ersin Das, Rahal Nanayakkara, Xiao Tan +4
Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state informa…