9 citations · 31 across the 12 of their papers we have counts for
7 papers · 1 filter
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…
Risk-Averse Stochastic Shortest Path Planning
Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick +1
We consider the stochastic shortest path planning problem in MDPs, i.e., the problem of designing policies that ensure reaching a goal state from a given initial state with minimum…
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications
Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray +1
Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study…
Risk-Sensitive Motion Planning using Entropic Value-at-Risk
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick
We consider the problem of risk-sensitive motion planning in the presence of randomly moving obstacles. To this end, we adopt a model predictive control (MPC) scheme and pose the o…
Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions
Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray +1
The prolific rise in autonomous systems has led to questions regarding their safe instantiation in real-world scenarios. Failures in safety-critical contexts such as human-robot in…