59 citations · 326 across the 66 of their papers we have counts for
11 papers · 1 filter
Escaping spurious local minimum trajectories in online time-varying nonconvex optimization
Yuhao Ding, Javad Lavaei, Murat Arcak
A major limitation of online algorithms that track the optimizers of time-varying nonconvex optimization problems is that they focus on a specific local minimum trajectory, which m…
Continuous and discrete abstractions for planning, applied to ship docking
Pierre-Jean Meyer, He Yin, Astrid H. Brodtkorb +2
We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifica…
Interval Reachability Analysis using Second-Order Sensitivity
Pierre-Jean Meyer, Murat Arcak
We propose a new approach to compute an interval over-approximation of the finite time reachable set for a large class of nonlinear systems. This approach relies on the notions of…
Data-Driven Reachable Set Computation using Adaptive Gaussian Process Classification and Monte Carlo Methods
Alex Devonport, Murat Arcak
We present two data-driven methods for estimating reachable sets with probabilistic guarantees. Both methods make use of a probabilistic formulation allowing for a formal definitio…
Optimization Based Planner Tracker Design for Safety Guarantees
He Yin, Monimoy Bujarbaruah, Murat Arcak +1
We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by sol…
Continuous Abstraction of Nonlinear Systems using Sum-of-Squares Programming
Stanley W. Smith, He Yin, Murat Arcak
We present a control design procedure for nonlinear control systems in which we represent a potentially high dimensional system with a low dimensional continuous-state abstraction.…