8 citations · 28 across the 16 of their papers we have counts for
16 papers
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…
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…
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…
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…