160 citations · 831 across the 126 of their papers we have counts for
143 papers
Belief-Informed Hybrid Control with Almost-Sure Target-Set Convergence
Clinton Enwerem, Saleh Kemal, John S. Baras +1
Controlling a hybrid system to a target set under parameter uncertainty can require informative actions that temporarily drive the system state away from the specified set. We prop…
GJK-CBF: Control Barrier Functions for Convex Rigid Body Collision Avoidance on SE(3)
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Collision avoidance among convex bodies is a fundamental problem in robotics. Control Barrier Functions (CBFs) provide a practical framework for real-time safety filtering due to t…
Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder
Shuo Liu, Liang Wu, Wei Xiao +2
Safety-critical Model Predictive Control (MPC) formulations based on Control Barrier Functions (CBFs) often require multiple tuning parameters and may become conservative or diffic…
Differentiable Ternary Temporal Logic Semantics with Polynomial Surrogate Networks
Ryan Matheu, Sai Sandeep Damera, John S. Baras +1
Temporal logic provides designers a formal reasoning tool for specifying complex spatio-temporal behaviors and tasks for autonomous systems. Many techniques exist for control synth…
Experimental Design for Controller Selection in Synthetic Biology
Eric Palanques-Tost, Ron Weiss, Calin Belta
Synthetic biology enables the design of genetic circuits that act as feedback controllers. These controllers are typically designed using computational models, but mismatch between…
Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds
Clinton Enwerem, John S. Baras, Calin Belta
Dexterous manipulation policies learned by imitation are typically evaluated for robustness to variation in scenes, objects, or instructions, but their performance across task exec…