4 papers · 1 filter
Compute-Constrained Safety Filters with Neuromorphic Event Triggering
Tochukwu E. Ogri, Opeyemi Owolabi, Luke Fina +2
Safety filters that rely on control barrier function (CBF) quadratic programs (QPs) are typically analyzed under the assumption that the QP is solved instantaneously, although nonz…
Decentralized Scalar Field Mapping using Gaussian Process
Hossein Papi, Muzaffar Qureshi, Kyle Volle +2
Decentralized Gaussian process (GP) methods provide a scalable framework for multi-agent scalar-field estimation by allowing each agent to maintain a local GP over its assigned sub…
On sparsity and directional forgetting in adaptive control
Tochukwu E. Ogri, Trivikram Satharasi, Muzaffar Qureshi +2
This paper develops a sparsity-promoting memory regressor extension (MRE) adaptation law with directional forgetting for nonlinear control-affine systems with linearly parameterize…
Decentralized Scalar Field Mapping using Gaussian Process
Hossein Papi, Muzaffar Qureshi, Kyle Volle +1
Decentralized Gaussian process (GP) methods offer a scalable framework for multi-agent scalar-field estimation by replacing a centralized global model with multiple local models ma…