4 citations · 16 across the 16 of their papers we have counts for
8 papers · 1 filter
Integral Control Barrier Functions for Dynamically Defined Control Laws
Aaron D. Ames, Gennaro Notomista, Yorai Wardi +1
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the…
Tracking Control by the Newton-Raphson Method with Output Prediction and Controller Speedup
Yorai Wardi, Carla Seatzu, Jorge Cortes +3
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (…
Path Planning in Unknown Environments Using Optimal Transport Theory
Haoyan Zhai, Magnus Egerstedt, Haomin Zhou
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity…
Collective motion planning for a group of robots using intermittent diffusion
Christina Frederick, Magnus Egerstedt, Haomin Zhou
In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation an…
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…
Differentially Private Cloud-Based Multi-Agent Optimization with Constraints
Matthew Hale, Magnus Egerstedt
We present an optimization framework that solves constrained multi-agent optimization problems while keeping each agent's state differentially private. The agents in the network se…