3 papers
cs.RO2025
Reachable Predictive Control: A Novel Control Algorithm for Nonlinear Systems with Unknown Dynamics and its Practical Applications
Taha Shafa, Yiming Meng, Melkior Ornik
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure…
math.OC2025
Online Learning and Control Synthesis for Reachable Paths of Unknown Nonlinear Systems
Yiming Meng, Taha Shafa, Jesse Wei +1
In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and…
eess.SY2024
Guaranteed Reachability on Riemannian Manifolds for Unknown Nonlinear Systems
Taha Shafa, Melkior Ornik
Determining the reachable set for a given nonlinear system is critically important for autonomous trajectory planning for reach-avoid applications and safety critical scenarios. Pr…