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06/07/2022
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles
Balancing safety and performance is one of the predominant challenges in...
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03/22/2022
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models
Control Barrier Functions (CBFs) have been demonstrated to be a powerful...
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03/14/2022
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
The ability to generate dynamic walking in real-time for bipedal robots ...
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12/15/2021
Safety-Aware Preference-Based Learning for Safety-Critical Control
Bringing dynamic robots into the wild requires a tenuous balance between...
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05/04/2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety
This paper combines episodic learning and control barrier functions in t...
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11/21/2020
Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty
Modern nonlinear control theory seeks to endow systems with properties s...
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10/30/2020
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
The problem of dynamic locomotion over rough terrain requires both accur...
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10/30/2020
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions
Modern nonlinear control theory seeks to develop feedback controllers th...
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06/01/2020
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
The theoretical unification of Nonlinear Model Predictive Control (NMPC)...
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03/18/2019
A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability
The goal of this paper is to understand the impact of learning on contro...
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03/04/2019