91 citations · 230 across the 7 of their papers we have counts for
8 papers
Permissive Barrier Certificates for Safe Stabilization Using Sum-of-squares
Li Wang, Dongkun Han, Magnus Egerstedt
Motivated by the need to simultaneously guarantee safety and stability of safety-critical dynamical systems, we construct permissive barrier certificates in this paper that explici…
Barrier-Certified Adaptive Reinforcement Learning with Applications to Brushbot Navigation
Motoya Ohnishi, Li Wang, Gennaro Notomista +1
This paper presents a safe learning framework that employs an adaptive model learning algorithm together with barrier certificates for systems with possibly nonstationary agent dyn…
Safe Learning of Quadrotor Dynamics Using Barrier Certificates
Li Wang, Evangelos A. Theodorou, Magnus Egerstedt
To effectively control complex dynamical systems, accurate nonlinear models are typically needed. However, these models are not always known. In this paper, we present a data-drive…
Safe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness
Li Wang, Aaron D. Ames, Magnus Egerstedt
Safety Barrier Certificates that ensure collision-free maneuvers for teams of differential flatness-based quadrotors are presented in this paper. Synthesized with control barrier f…
The Robotarium: A remotely accessible swarm robotics research testbed
Daniel Pickem, Paul Glotfelter, Li Wang +4
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral a…
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
Li Wang, Aaron Ames, Magnus Egerstedt
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety.…