Zobrazeno 1 - 10
of 35
pro vyhledávání: '"Daş, Ersin"'
This paper develops a Bayesian optimal experimental design for robot kinematic calibration on ${\mathbb{S}^3 \!\times\! \mathbb{R}^3}$. Our method builds upon a Gaussian process approach that incorporates a geometry-aware kernel based on Riemannian M
Externí odkaz:
http://arxiv.org/abs/2409.10802
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the lens of CBFs
Externí odkaz:
http://arxiv.org/abs/2403.08916
Autor:
Das, Ersin, Burdick, Joel W.
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new uncertainty
Externí odkaz:
http://arxiv.org/abs/2401.01881
Autor:
Janwani, Neil C., Daş, Ersin, Touma, Thomas, Wei, Skylar X., Molnar, Tamas G., Burdick, Joel W.
Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup controllers to f
Externí odkaz:
http://arxiv.org/abs/2310.05865
This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-based control barrier functions (CBFs) are utilized to ensure robust safe
Externí odkaz:
http://arxiv.org/abs/2304.08538
Autor:
Daş, Ersin, Burdick, Joel W.
Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains in the lander's vicinity. To support this need, this paper presents a
Externí odkaz:
http://arxiv.org/abs/2303.03658
Publikováno v:
IEEE Control Systems Letters 2022
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate with contr
Externí odkaz:
http://arxiv.org/abs/2209.08123
Autor:
Daş, Ersin, Murray, Richard M.
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller synthesis framewor
Externí odkaz:
http://arxiv.org/abs/2201.05758
Publikováno v:
In Journal of the Franklin Institute August 2023 360(12):8251-8276
