8 citations · 45 across the 28 of their papers we have counts for
28 papers
OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles
Taekyung Kim, Hun Kuk Park, Renya Wada +3
Robots navigating under occlusion may enter states from which no admissible input can avoid a dynamic obstacle once it becomes visible. We present OcclusionCBF, a safety filter tha…
Safe Trajectory Tracking of the Stefan Problem with Second-Order Moving Boundary Dynamics
Shumon Koga, Miroslav Krstic
This paper considers a safe trajectory tracking of the Stefan problem with a second-order moving boundary dynamics. The model is given by a parabolic Partial Differential Equation…
MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy
Saida Liu, Nikolay Atanasov, Shumon Koga
This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables mul…
Safe Stabilization of the Stefan Problem with a High-Order Moving Boundary Dynamics by PDE Backstepping
Shumon Koga, Miroslav Krstic
This paper presents a safe stabilization of the Stefan PDE model with a moving boundary governed by a high-order dynamics. We consider a parabolic PDE with a time-varying domain go…
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey +4
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its…
Event-Triggered Control of Neuron Growth with Actuation at Soma
Cenk Demir, Shumon Koga, Miroslav Krstic
We introduce a dynamic event-triggering mechanism for regulating the axonal growth of a neuron. We apply boundary actuation at the soma (the part of a neuron that contains the nucl…
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories
Pengzhi Yang, Shumon Koga, Arash Asgharivaskasi +1
This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The…
Event-Triggered Safe Stabilizing Boundary Control for the Stefan PDE System with Actuator Dynamics
Shumon Koga, Cenk Demir, Miroslav Krstic
This paper proposes an event-triggered boundary control for the safe stabilization of the Stefan PDE system with actuator dynamics. The control law is designed by applying Zero-Ord…
Control Synthesis for Stability and Safety by Differential Complementarity Problem
Yinzhuang Yi, Shumon Koga, Bogdan Gavrea +1
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lya…
Input Delay Compensation for Neuron Growth by PDE Backstepping
Cenk Demir, Shumon Koga, Miroslav Krstic
Neurological studies show that injured neurons can regain their functionality with therapeutics such as Chondroitinase ABC (ChABC). These therapeutics promote axon elongation by ma…
Learning Continuous Control Policies for Information-Theoretic Active Perception
Pengzhi Yang, Yuhan Liu, Shumon Koga +2
This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile rob…
Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories
Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov
The problem of active mapping aims to plan an informative sequence of sensing views given a limited budget such as distance traveled. This paper consider active occupancy grid mapp…
Neuron Growth Output-Feedback Control by PDE Backstepping
Cenk Demir, Shumon Koga, Miroslav Krstic
Neurological injuries predominantly result in loss of functioning of neurons. These neurons may regain function after particular medical therapeutics, such as Chondroitinase ABC (C…
State Estimation of the Stefan PDE: A Tutorial on Design and Applications to Polar Ice and Batteries
Shumon Koga, Miroslav Krstic
The Stefan PDE system is a representative model for thermal phase change phenomena, such as melting and solidification, arising in numerous science and engineering processes. The m…
Safe PDE Backstepping QP Control with High Relative Degree CBFs: Stefan Model with Actuator Dynamics
Shumon Koga, Miroslav Krstic
High-relative-degree control barrier functions (hi-rel-deg CBFs) play a prominent role in automotive safety and in robotics. In this paper we launch a generalization of this concep…
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem i…
Neuron Growth Control by PDE Backstepping: Axon Length Regulation by Tubulin Flux Actuation in Soma
Cenk Demir, Shumon Koga, Miroslav Krstic
In this work, stabilization of an axonal growth in a neuron associated with the dynamics of tubulin concentration is proposed by designing a boundary control. The dynamics are give…
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous Trajectories
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
This paper develops \emph{iterative Covariance Regulation} (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem i…
Stabilization of Filament Production Rate for Screw Extrusion-Based Polymer 3D-Printing
Shumon Koga, David Straub, Mamadou Diagne +1
Polymer 3D-printing has been commercialized rapidly during recent years, however, there remains a matter of improving the manufacturing speed. Screw extrusion has a strong potentia…
Sampled-Data Control of the Stefan System
Shumon Koga, Iasson Karafyllis, Miroslav Krstic
This paper presents results for the sampled-data boundary feedback control to the Stefan problem. The Stefan problem represents a liquid-solid phase change phenomenon which describ…
Single-Boundary Control of the Two-Phase Stefan System
Shumon Koga, Miroslav Krstic
This paper presents the control design of the two-phase Stefan problem. The two-phase Stefan problem is a representative model of liquid-solid phase transition by describing the ti…
Extremum Seeking for Traffic Congestion Control with a Downstream Bottleneck
Huan Yu, Shumon Koga, Tiago Roux Oliveira +1
This paper develops boundary control for freeway traffic with a downstream bottleneck. Traffic on a freeway segment with capacity drop at outlet of the segment is a common phenomen…
Input-to-State Stability for the Control of Stefan Problem with Respect to Heat Loss
Shumon Koga, Iasson Karafyllis, Miroslav Krstic
This paper develops an input-to-state stability (ISS) analysis of the Stefan problem with respect to an unknown heat loss. The Stefan problem represents a liquid-solid phase change…
Arctic Sea Ice State Estimation From Thermodynamic PDE Model
Shumon Koga, Miroslav Krstic
Recent rapid loss of the Arctic sea ice motivates the study of the Arctic sea ice thickness. Global climate model that describes the ice's thickness evolution requires an accurate…