19 citations · 72 across the 29 of their papers we have counts for
38 papers
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…
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications
Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray +1
We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system.…
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification
Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi +2
The dramatic increase of autonomous systems subject to variable environments has given rise to the pressing need to consider risk in both the synthesis and verification of policies…
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…
Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions
Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames
Guaranteeing safety for robotic and autonomous systems in real-world environments is a challenging task that requires the mitigation of stochastic uncertainties. Control barrier fu…
A Scenario Approach to Risk-Aware Safety-Critical System Verification
Prithvi Akella, Mohamadreza Ahmadi, Aaron D. Ames
With the growing interest in deploying robots in unstructured and uncertain environments, there has been increasing interest in factoring risk into safety-critical control developm…