69 citations · 462 across the 66 of their papers we have counts for
5 papers · 1 filter
Mobile Robot Sensory Coverage in 2-D Environments: An Optimization Approach with Efficiency Bounds
E. Fourney, J. W. Burdick, E. D. Rimon
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find t…
A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach
Skylar X. Wei, Lu Gan, Joel W. Burdick
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown…
Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification
Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi +5
The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need f…
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…