research
∙
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...
share
research
∙
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...
research
∙
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 ...
research
∙
12/15/2021
Safety-Aware Preference-Based Learning for Safety-Critical Control
Bringing dynamic robots into the wild requires a tenuous balance between...
research
∙
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...
research
∙
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...
research
∙
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...
research
∙
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...
research
∙
06/01/2020
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
The theoretical unification of Nonlinear Model Predictive Control (NMPC)...
research
∙
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...
research
∙
03/04/2019
