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eess.SY2026
Staggered Integral Online Conformal Prediction for Safe Dynamics Adaptation with Multi-Step Coverage Guarantees
Daniel M. Cherenson, Dimitra Panagou
Safety-critical control of uncertain, adaptive systems often relies on conservative, worst-case uncertainty bounds that limit closed-loop performance. Online conformal prediction i…
eess.SY2025
Adaptive Control Allocation for Underactuated Time-Scale Separated Non-Affine Systems
Daniel M. Cherenson, Dimitra Panagou
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. Thi…