6 papers
Bayesian Safety Guarantees for Port-Hamiltonian Systems with Learned Energy Functions
Chi Ho Leung, Philip E. Paré
Control barrier functions for port-Hamiltonian systems inherit model uncertainty when the Hamiltonian is learned from data. We show how to propagate this uncertainty into a safety…
Spectral Flow Learning Theory: Finite-Sample Guarantees for Vector-Field Identification
Chi Ho Leung, Philip E. Paré
We study the identification of continuous-time vector fields from irregularly sampled trajectories. We introduce spectral flow learning, which learns in a windowed flow space using…
Port-Transversal Barriers: Graph-Theoretic Safety for Port-Hamiltonian Systems
Chi Ho Leung, Philip E. Paré
We study port-Hamiltonian systems with energy functions that split into local storage terms. From the interconnection and dissipation structure, we construct a graph on the energy…
Learning Passive Continuous-Time Dynamics with Multistep Port-Hamiltonian Gaussian Processes
Chi Ho Leung, Philip E. Paré
We propose the multistep port-Hamiltonian Gaussian process (MS-PHS GP) to learn physically consistent continuous-time dynamics and a posterior over the Hamiltonian from noisy, irre…
Online Identification of Time-Varying Systems Using Excitation Sets and Change Point Detection
Chi Ho Leung, Ashish R. Hota, Philip E. Paré
In this work, we first show that the problem of parameter identification is often ill-conditioned and lacks the persistence of excitation required for the convergence of online lea…
Collaborative Safety-Critical Formation Control with Obstacle Avoidance
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control l…