42 citations · 338 across the 135 of their papers we have counts for
19 papers · 1 filter
Guaranteed Trajectory Tracking under Learned Dynamics with Contraction Metrics and Disturbance Estimation
Pan Zhao, Ziyao Guo, Yikun Cheng +3
This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertaintie…
Improving the Robustness of Reinforcement Learning Policies with Adaptive Control
Y. Cheng, P. Zhao, F. Wang +2
A reinforcement learning (RL) control policy could fail in a new/perturbed environment that is different from the training environment, due to the presence of dynamic variations. F…
Control Barrier Function Augmentation in Sampling-based Control Algorithm for Sample Efficiency
Chuyuan Tao, Hunmin Kim, Hyungjin Yoon +2
For a nonlinear stochastic path planning problem, sampling-based algorithms generate thousands of random sample trajectories to find the optimal path while guaranteeing safety by L…
Generalization of Safe Optimal Control Actions on Networked Multi-Agent Systems
Lin Song, Neng Wan, Aditya Gahlawat +3
We propose a unified framework to fast generate a safe optimal control action for a new task from existing controllers on Multi-Agent Systems (MASs). The control action composition…
Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies
Hyungsoo Kang, Hyung-Jin Yoon, Venanzio Cichella +2
This paper presents a time-coordination algorithm for multiple UAVs executing cooperative missions. Unlike previous algorithms, it does not rely on the assumption that the communic…
Constrained Attack-Resilient Estimation of Stochastic Cyber-Physical Systems
Wenbin Wan, Hunmin Kim, Naira Hovakimyan +1
In this paper, a constrained attack-resilient estimation algorithm (CARE) is developed for stochastic cyber-physical systems. The proposed CARE can simultaneously estimate the comp…