3 papers
cs.RO2026
LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference
Maitham F. AL-Sunni, Timeea-Andreea Radu, Hassan Almubarak +4
Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matter…
cs.RO2025
LLA-MPC: Fast Adaptive Control for Autonomous Racing
Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng +1
We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidl…
eess.SY2025
Safety Embedded Adaptive Control Using Barrier States
Maitham F. AL-Sunni, Hassan Almubarak, John M. Dolan
In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with par…