3 citations · 4 across the 13 of their papers we have counts for
13 papers
Safety-Critical Control under Uncertainty via Adaptive Conformal Quantile Prediction Intervals
Hao Zhou, Yanze Zhang, Yiwei Lyu +1
Safety-critical control under uncertainty requires uncertainty representations that are both statistically valid (for certifiable performance) and compatible with enforceable safet…
Scenario MPC with STL Specifications and Pareto-Based Feasibility Repair
Tianhao Wu, Yiwei Lyu
Temporal logic is a formal language for reasoning about system behaviors over time. Signal temporal logic (STL), in particular, has been used to encode spatio-temporal requirements…
Causality-Based Parametric Control Barrier Function for Safe Multi-Vehicle Interaction
Yiwei Lyu, Caleb Chang, John M. Dolan
Safe control has been widely studied in various safety-critical applications, for instance, autonomous driving. In order to ensure the autonomous vehicle does not collide with othe…
Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
Joonkyung Kim, Yanze Zhang, Wenhao Luo +1
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assu…
Multimodal Belief-Space Covariance Steering with Active Probing and Influence for Interactive Driving
Devodita Chakravarty, John Dolan, Yiwei Lyu
Autonomous driving in complex traffic requires reasoning under uncertainty. Common approaches rely on prediction-based planning or risk-aware control, but these are typically treat…
Feasibility Restoration under Conflicting STL Specifications with Pareto-Optimal Refinement
Tianhao Wu, Yiwei Lyu
Signal Temporal Logic (STL) is expressive formal language that specifies spatio-temporal requirements in robotics. Its quantitative robustness semantics can be easily integrated wi…
Gaussian Mixture-Based Inverse Perception Contract for Uncertainty-Aware Robot Navigation
Bingyao Du, Joonkyung Kim, Yiwei Lyu
Reliable navigation in cluttered environments requires perception outputs that are not only accurate but also equipped with uncertainty sets suitable for safe control. An inverse p…
PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner
Eugene Ku, Yiwei Lyu
Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations.…
Adaptive Deadlock Avoidance for Decentralized Multi-agent Systems via CBF-inspired Risk Measurement
Yanze Zhang, Yiwei Lyu, Siwon Jo +2
Decentralized safe control plays an important role in multi-agent systems given the scalability and robustness without reliance on a central authority. However, without an explicit…
Integrating Online Learning and Connectivity Maintenance for Communication-Aware Multi-Robot Coordination
Yupeng Yang, Yiwei Lyu, Yanze Zhang +2
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communica…
Courteous MPC for Autonomous Driving with CBF-inspired Risk Assessment
Yanze Zhang, Yiwei Lyu, Sude E. Demir +4
With more autonomous vehicles (AVs) sharing roadways with human-driven vehicles (HVs), ensuring safe and courteous maneuvers that respect HVs' behavior becomes increasingly importa…
Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty
Yupeng Yang, Yiwei Lyu, Yanze Zhang +2
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization…
Hierarchical Learned Risk-Aware Planning Framework for Human Driving Modeling
Nathan Ludlow, Yiwei Lyu, John Dolan
This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodo…