5 papers
SAD-Flower: Flow Matching for Safe, Admissible, and Dynamically Consistent Planning
Tzu-Yuan Huang, Armin Lederer, Dai-Jie Wu +6
Flow matching (FM) has shown promising results in data-driven planning. However, it inherently lacks formal guarantees for ensuring state and action constraints, whose satisfaction…
Risk-Aware Trajectory Optimization and Control for an Underwater Suspended Robotic System
Yuki Origane, Nicolas Hoischen, Tzu-Yuan Huang +3
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for…
Toward Near-Globally Optimal Nonlinear Model Predictive Control via Diffusion Models
Tzu-Yuan Huang, Armin Lederer, Nicolas Hoischen +4
Achieving global optimality in nonlinear model predictive control (NMPC) is challenging due to the non-convex nature of the underlying optimization problem. Since commonly employed…
Learning-based Parameterized Barrier Function for Safety-Critical Control of Unknown Systems
Sihua Zhang, Di-Hua Zhai, Xiaobing Dai +3
With the increasing complexity of real-world systems and varying environmental uncertainties, it is difficult to build an accurate dynamic model, which poses challenges especially…
Learning-based Prescribed-Time Safety for Control of Unknown Systems with Control Barrier Functions
Tzu-Yuan Huang, Sihua Zhang, Xiaobing Dai +4
In many control system applications, state constraint satisfaction needs to be guaranteed within a prescribed time. While this issue has been partially addressed for systems with k…