69 citations · 462 across the 66 of their papers we have counts for
14 papers · 1 filter
Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety
Ersin Das, Aaron D. Ames, Joel W. Burdick
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety m…
Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots
Ersin Das, Joel W. Burdick
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framewor…
Robust Control Barrier Functions with Uncertainty Estimation
Ersin Daş, Skylar X. Wei, Joel W. Burdick
This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-bas…
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data
Prithvi Akella, Skylar X. Wei, Joel W. Burdick +1
Recent advances in safety-critical risk-aware control are predicated on apriori knowledge of the disturbances a system might face. This paper proposes a method to efficiently learn…
Risk-Averse Receding Horizon Motion Planning for Obstacle Avoidance using Coherent Risk Measures
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick
This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a mo…
Distributionally Robust Model Predictive Control with Total Variation Distance
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick
This paper studies the problem of distributionally robust model predictive control (MPC) using total variation distance ambiguity sets. For a discrete-time linear system with addit…