2 papers
cs.RO2026
Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters
Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a b…
eess.SY2023
Multirotor Ensemble Model Predictive Control I: Simulation Experiments
Erina Yamaguchi, Sai Ravela
Nonlinear receding horizon model predictive control is a powerful approach to controlling nonlinear dynamical systems. However, typical approaches that use the Jacobian, adjoint, a…