3 citations · 3 across the 4 of their papers we have counts for
5 papers · 1 filter
Distribution-Transfer Safe-Horizon MPC under Mode Uncertainty
Stephen Crawford, Nora Ayanian
Scenario-based MPC is an attractive strategy for chance-constrained motion planning that approximates uncertainty via a finite set of sampled scenarios. As a sampling-based method,…
Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control
Lishuo Pan, Mattia Catellani, An Cao +2
Control barrier functions are an effective model-based tool to formally certify the safety of a system. However, transferring their theoretical guarantees to real-world robotics sy…
Anisotropic Diffusion-Driven Ergodic Coverage in Multi-Robot Systems
Thales C. Silva, Anoop Kiran, Nora Ayanian
We consider the problem of combining potential field and ergodic search on multi-robot systems. Traditional ergodic search algorithms use metrics for ergodicity that account for th…
Online Learning-Enhanced High Order Adaptive Safety Control
Lishuo Pan, Mattia Catellani, Thales C. Silva +2
Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have rec…
Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems
Anoop Kiran, Nora Ayanian, Kenneth Breuer
Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize…