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03/10/2023
Minimally Disruptive Cooperative Lane-change Maneuvers
A lane-change maneuver on a congested highway could be severely disrupti...
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01/31/2023
Optimal Transport Perturbations for Safe Reinforcement Learning with Robustness Guarantees
Robustness and safety are critical for the trustworthy deployment of dee...
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11/16/2022
Cooperative Energy and Time-Optimal Lane Change Maneuvers with Minimal Highway Traffic Disruption
We derive optimal control policies for a Connected Automated Vehicle (CA...
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11/09/2022
A Graph-Based Approach to Generate Energy-Optimal Robot Trajectories in Polygonal Environments
As robotic systems continue to address emerging issues in areas such as ...
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06/28/2022
Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse
Real-world sequential decision making requires data-driven algorithms th...
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03/31/2022
Sequential Cooperative Energy and Time-Optimal Lane Change Maneuvers for Highway Traffic
We derive optimal control policies for a Connected Automated Vehicle (CA...
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10/29/2021
Generalized Proximal Policy Optimization with Sample Reuse
In real-world decision making tasks, it is critical for data-driven rein...
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03/29/2021
Event-Triggered Safety-Critical Control for Systems with Unknown Dynamics
This paper addresses the problem of safety-critical control for systems ...
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02/12/2021
High Order Control Lyapunov-Barrier Functions for Temporal Logic Specifications
Recent work has shown that stabilizing an affine control system to a des...
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12/19/2020
Uncertainty-Aware Policy Optimization: A Robust, Adaptive Trust Region Approach
In order for reinforcement learning techniques to be useful in real-worl...
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11/16/2020
Sufficient Conditions for Feasibility of Optimal Control Problems Using Control Barrier Functions
It has been shown that satisfying state and control constraints while op...
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08/26/2020
Comparison of Centralized and Decentralized Approaches in Cooperative Coverage Problems with Energy-Constrained Agents
A multi-agent coverage problem is considered with energy-constrained age...
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08/17/2020
Bridging the Gap between Optimal Trajectory Planning and Safety-Critical Control with Applications to Autonomous Vehicles
We address the problem of optimizing the performance of a dynamic system...
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07/09/2020
Explainability of Intelligent Transportation Systems using Knowledge Compilation: a Traffic Light Controller Case
Usage of automated controllers which make decisions on an environment ar...
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02/11/2020
Adaptive Control Barrier Functions for Safety-Critical Systems
Recent work showed that stabilizing affine control systems to desired (s...
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12/24/2019
A Bi-Level Cooperative Driving Strategy Allowing Lane Changes
This paper studies the cooperative driving of connected and automated ve...
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12/06/2019
Feasibility-Guided Learning for Robust Control in Constrained Optimal Control Problems
Optimal control problems with constraints ensuring safety and convergenc...
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11/06/2019
Asymptotic Analysis for Greedy Initialization of Threshold-Based Distributed Optimization of Persistent Monitoring on Graphs
We consider the optimal multi-agent persistent monitoring problem define...
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11/06/2019
Asymptotic Analysis Based Greedy Method for Threshold-Based Distributed Optimization of Persistent Monitoring on Graphs
We consider the optimal multi-agent persistent monitoring problem define...
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02/21/2019
Time and Energy Optimal Lane Change Maneuvers for Cooperating Connected Automated Vehicles
We derive optimal control policies for a Connected Automated Vehicle (CA...
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09/21/2018
Decentralized Optimal Merging Control for Connected and Automated Vehicles
This paper addresses the optimal control of Connected and Automated Vehi...
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08/14/2017
A Submodularity-Based Approach for Multi-Agent Optimal Coverage Problems
We consider the optimal coverage problem where a multi-agent network is ...
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07/05/2016
Optimal control for a robotic exploration, pick-up and delivery problem
This paper addresses an optimal control problem for a robot that has to ...
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09/19/2013