32 citations · 76 across the 8 of their papers we have counts for
5 papers · 1 filter
Automated Stability Analysis of Piecewise Affine Dynamics Using Vertices
Pouya Samanipour, Hasan A. Poonawala
This paper presents an automated algorithm to analyze the stability of piecewise affine (PWA) dynamical systems due to their broad applications. We parametrize the Lyapunov functio…
Provably Correct Sensor-driven Path-following for Unicycles using Monotonic Score Functions
Benton Clark, Varun Hariprasad, Hasan A. Poonawala
This paper develops a provably stable sensor-driven controller for path-following applications of robots with unicycle kinematics, one specific class of which is the wheeled mobile…
Robust Control for Dynamical Systems With Non-Gaussian Noise via Formal Abstractions
Thom Badings, Licio Romao, Alessandro Abate +4
Controllers for dynamical systems that operate in safety-critical settings must account for stochastic disturbances. Such disturbances are often modeled as process noise in a dynam…
Sampling-Based Robust Control of Autonomous Systems with Non-Gaussian Noise
Thom S. Badings, Alessandro Abate, Nils Jansen +3
Controllers for autonomous systems that operate in safety-critical settings must account for stochastic disturbances. Such disturbances are often modelled as process noise, and com…
Time-optimal Velocity Tracking Control for Differential Drive Robots
Hasan A Poonawala, Mark W Spong
Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual whee…