6 citations · 9 across the 7 of their papers we have counts for
7 papers
Constrained Variational Inference via Safe Particle Flow
Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
We propose a control barrier function (CBF) formulation for enforcing equality and inequality constraints in variational inference. The key idea is to define a barrier functional o…
Variational Formulation of Particle Flow
Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
This paper provides a formulation of the log-homotopy particle flow from the perspective of variational inference. We show that the transient density used to derive the particle fl…
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Kehan Long, Yinzhuang Yi, Zhirui Dai +3
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilisti…
EAST: Environment Aware Safe Tracking using Planning and Control Co-Design
Zhichao Li, Yinzhuang Yi, Zhuolin Niu +1
This paper considers the problem of autonomous mobile robot navigation in unknown environments with moving obstacles. We propose a new method to achieve environment-aware safe trac…
Distributionally Robust Lyapunov Function Search Under Uncertainty
Kehan Long, Yinzhuang Yi, Jorge Cortes +1
This paper develops methods for proving Lyapunov stability of dynamical systems subject to disturbances with an unknown distribution. We assume only a finite set of disturbance sam…
Control Synthesis for Stability and Safety by Differential Complementarity Problem
Yinzhuang Yi, Shumon Koga, Bogdan Gavrea +1
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lya…
Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization
Kehan Long, Yinzhuang Yi, Jorge Cortes +1
This paper considers enforcing safety and stability of dynamical systems in the presence of model uncertainty. Safety and stability constraints may be specified using a control bar…