76 citations · 213 across the 52 of their papers we have counts for
12 papers · 1 filter
A Numerical Method to Compute Stability Margins of Switching Linear Systems
Corbin Klett, Matthew Abate, Samuel Coogan +1
Stability margins for linear time-varying (LTV) and switched-linear systems are traditionally computed via quadratic Lyapunov functions, and these functions certify the stability o…
Safety With Limited Range Sensing Constraints For Fixed Wing Aircraft
Eric Squires, Rohit Konda, Pietro Pierpaoli +2
In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (…
Improving the Fidelity of Mixed-Monotone Reachable Set Approximations via State Transformations
Matthew Abate, Samuel Coogan
Mixed-monotone systems are separable via a decomposition function into increasing and decreasing components, and this decomposition function allows for embedding the system dynamic…
Resource Aware Pricing for Electric Vehicle Charging
Cesar Santoyo, Gustav Nilsson, Samuel Coogan
Electric vehicle charging facilities offer electric charge and parking to users for a fee. Both parking availability and electric charge capacity are constrained resources, and as…
Performance Analysis and Non-Quadratic Lyapunov Functions for Linear Time-Varying Systems
Matthew Abate, Corbin Klett, Samuel Coogan +1
Performance analysis for linear time-invariant (LTI) systems has been closely tied to quadratic Lyapunov functions ever since it was shown that LTI system stability is equivalent t…
Enforcing Safety at Runtime for Systems with Disturbances
Matthew Abate, Samuel Coogan
Safety for control systems is often posed as an invariance constraint; the system is said to be safe if state trajectories avoid some unsafe region of the statespace for all time.…
Continuous Reachability Task Transition Using Control Barrier Functions
Mohit Srinivasan, Cesar Santoyo, Samuel Coogan
In this paper, a method to achieve smooth transitions between sequential reachability tasks for a continuous time mobile robotic system is presented. Control barrier functions prov…
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach
Mohit Srinivasan, Amogh Dabholkar, Samuel Coogan +1
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem,…
Tight Decomposition Functions for Continuous-Time Mixed-Monotone Systems with Disturbances
Matthew Abate, Maxence Dutreix, Samuel Coogan
The vector field of a mixed-monotone system is decomposable via a decomposition function into increasing (cooperative) and decreasing (competitive) components, and this decompositi…
Computing Robustly Forward Invariant Sets for Mixed-Monotone Systems
Matthew Abate, Samuel Coogan
This work presents new tools for studying reachability and set invariance for continuous-time mixed-monotone dynamical systems subject to a disturbance input. The vector field of a…
Extent-Compatible Control Barrier Functions
Mohit Srinivasan, Matthew Abate, Gustav Nilsson +1
Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-…
Abstraction-based Synthesis for Stochastic Systems with Omega-Regular Objectives
Maxence Dutreix, Jeongmin Huh, Samuel Coogan
This paper studies the synthesis of controllers for discrete-time, continuous state stochastic systems subject to omega-regular specifications using finite-state abstractions. We p…