76 citations · 213 across the 52 of their papers we have counts for
14 papers · 1 filter
Optimal Tolling for Heterogeneous Traffic Networks with Mixed Autonomy
Daniel A. Lazar, Samuel Coogan, Ramtin Pedarsani
When people pick routes to minimize their travel time, the total experienced delay, or social cost, may be significantly greater than if people followed routes assigned to them by…
A Barrier Function Approach to Finite-Time Stochastic System Verification and Control
Cesar Santoyo, Maxence Dutreix, Samuel Coogan
This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite-time horizon. We use stochastic control barrier functions as a means to quantify t…
Monitor-Based Runtime Assurance for Temporal Logic Specifications
Matthew Abate, Eric Feron, Samuel Coogan
This paper introduces the safety controller architecture as a runtime assurance mechanism for system specifications expressed as safety properties in Linear Temporal Logic (LTL). T…
Mixed Autonomy in Ride-Sharing Networks
Qinshuang Wei, Ramtin Pedarsani, Samuel Coogan
We consider ride-sharing networks served by human-driven vehicles (HVs) and autonomous vehicles (AVs). We propose a model for ride-sharing in this mixed autonomy setting for a mult…
Characterizing Safety: Minimal Barrier Functions from Scalar Comparison Systems
Rohit Konda, Aaron D. Ames, Samuel Coogan
Verifying set invariance has classical solutions stemming from the seminal work by Nagumo, and defining sets via a smooth barrier function constraint inequality results in computab…
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications
Mohit Srinivasan, Samuel Coogan
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be convenie…