4 papers
Safe Trajectory Tracking of the Stefan Problem with Second-Order Moving Boundary Dynamics
Shumon Koga, Miroslav Krstic
This paper considers a safe trajectory tracking of the Stefan problem with a second-order moving boundary dynamics. The model is given by a parabolic Partial Differential Equation…
MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy
Saida Liu, Nikolay Atanasov, Shumon Koga
This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables mul…
Safe Stabilization of the Stefan Problem with a High-Order Moving Boundary Dynamics by PDE Backstepping
Shumon Koga, Miroslav Krstic
This paper presents a safe stabilization of the Stefan PDE model with a moving boundary governed by a high-order dynamics. We consider a parabolic PDE with a time-varying domain go…
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey +4
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its…