Zobrazeno 1 - 10
of 24
pro vyhledávání: '"Andrew Singletary"'
Publikováno v:
IEEE Access, Vol 8, Pp 187249-187275 (2020)
There are two main approaches to safety-critical control. The first one relies on computation of control invariant sets and is presented in the first part of this work. The second approach draws from the topic of optimal control and relies on the abi
Externí odkaz:
https://doaj.org/article/5cd11f0ddc8b4f6a9ebf14c88d4d727e
Publikováno v:
IEEE Robotics and Automation Letters. 7:10954-10961
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In this work, w
Guaranteeing safety for robotic and autonomous systems in real-world environments is a challenging task that requires the mitigation of stochastic uncertainties. Control barrier functions have, in recent years, been widely used for enforcing safety r
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::12de23c12a4eedcda03b31d3e036e5c8
https://resolver.caltech.edu/CaltechAUTHORS:20220707-315696000
https://resolver.caltech.edu/CaltechAUTHORS:20220707-315696000
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic (LTL) specific
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d5d49ad4d8b93d38df344e1a4fd17306
https://resolver.caltech.edu/CaltechAUTHORS:20220721-7910000
https://resolver.caltech.edu/CaltechAUTHORS:20220721-7910000
Publikováno v:
IEEE Control Systems Letters. 5:127-132
This letter considers the problem of obstacle avoidance for multiple robotic agents moving in an environment with obstacles. A decentralized supervisory controller is synthesized based on control barrier functions (CBF) that guarantees obstacle avoid
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7" racing drone at speeds exceeding 100 km/h, utilizing only online comp
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3d9e07f3ad952b03c18f5f2998d4085f
https://resolver.caltech.edu/CaltechAUTHORS:20220224-200854184
https://resolver.caltech.edu/CaltechAUTHORS:20220224-200854184
Publikováno v:
IEEE Access, Vol 8, Pp 187249-187275 (2020)
There are two main approaches to safety-critical control. The first one relies on computation of control invariant sets and is presented in the first part of this work. The second approach draws from the topic of optimal control and relies on the abi
Publikováno v:
IEEE Control Systems Letters
ACC
ACC
We introduce a methodology to guarantee safety against the spread of infectious diseases by viewing epidemiological models as control systems and by considering human interventions (such as quarantining or social distancing) as control input. We cons
Autor:
Andrew Singletary, Justin A. Yax, Lucas Lin, Joshua D. Niforatos, Anthony James, Matthew J. Stull, Jatin Narang, Emily Rose
Publikováno v:
Academic Emergency Medicine. 26:814-817
Publikováno v:
CDC
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but whose contr