76 citations · 213 across the 52 of their papers we have counts for
64 papers
Online, Reachability-Aware, Sampling-Based Motion Planning
Brendan Gould, Zhiyuan Zhang, Panagiotis Tsiotras +1
Sampling-Based Model-Predictive Control (MPC) algorithms are a flexible class of controllers used for navigation on a wide range of robotic systems. Historically, such approaches h…
Efficient Interaction-Aware Interval Analysis of Neural Network Feedback Loops
Saber Jafarpour, Akash Harapanahalli, Samuel Coogan
In this paper, we propose a computationally efficient framework for interval reachability of systems with neural network controllers. Our approach leverages inclusion functions for…
A Toolbox for Fast Interval Arithmetic in numpy with an Application to Formal Verification of Neural Network Controlled Systems
Akash Harapanahalli, Saber Jafarpour, Samuel Coogan
In this paper, we present a toolbox for interval analysis in numpy, with an application to formal verification of neural network controlled systems. Using the notion of natural inc…
GreenEVT: Greensboro Electric Vehicle Testbed
Gustav Nilsson, Alejandro D. Owen Aquino, Samuel Coogan +1
The ongoing electrification of the transportation fleet will increase the load on the electric power grid. Since both the transportation network and the power grid already experien…
Contraction-Guided Adaptive Partitioning for Reachability Analysis of Neural Network Controlled Systems
Akash Harapanahalli, Saber Jafarpour, Samuel Coogan
In this paper, we present a contraction-guided adaptive partitioning algorithm for improving interval-valued robust reachable set estimates in a nonlinear feedback loop with a neur…
Interval Reachability of Nonlinear Dynamical Systems with Neural Network Controllers
Saber Jafarpour, Akash Harapanahalli, Samuel Coogan
This paper proposes a computationally efficient framework, based on interval analysis, for rigorous verification of nonlinear continuous-time dynamical systems with neural network…