Zobrazeno 1 - 10
of 3 007
pro vyhledávání: '"P. Mestres"'
This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible controllers. We intr
Externí odkaz:
http://arxiv.org/abs/2410.08364
Control barrier functions (CBFs) play a critical role in the design of safe optimization-based controllers for control-affine systems. Given a CBF associated with a desired ``safe'' set, the typical approach consists in embedding CBF-based constraint
Externí odkaz:
http://arxiv.org/abs/2409.06808
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe set. By lev
Externí odkaz:
http://arxiv.org/abs/2408.08398
This paper studies the dynamical properties of closed-loop systems obtained from control barrier function-based safety filters. We provide a sufficient and necessary condition for the existence of undesirable equilibria and show that the Jacobian mat
Externí odkaz:
http://arxiv.org/abs/2408.00958
Autor:
Mestres, Pol, Cortés, Jorge
Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a suite of converse results on CBFs. Given any safe set, we first ident
Externí odkaz:
http://arxiv.org/abs/2406.14823
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control input for a
Externí odkaz:
http://arxiv.org/abs/2402.06195
This paper studies regularity properties of optimization-based controllers, which are obtained by solving optimization problems where the parameter is the system state and the optimization variable is the input to the system. Under a wide range of as
Externí odkaz:
http://arxiv.org/abs/2311.13167
This paper studies the well-posedness and regularity of safe stabilizing optimization-based controllers for control-affine systems in the presence of model uncertainty. When the system dynamics contain unknown parameters, a finite set of samples can
Externí odkaz:
http://arxiv.org/abs/2311.05813
Autor:
Vaseem M. Khatri, Mariella A. Mestres-Villanueva, Sreenija Yarlagadda, Ajay Doniparthi, David B. Smith, Justyn Y. Nakashima, John M. Bryant, Dekuang Zhao, Rituraj Upadhyay, Matthew N. Mills, Daniel E. Oliver, Hsiang-Hsuan Michael Yu, Joshua D. Palmer, Nicole O. Williams, Reshma L. Mahtani, Manmeet S. Ahluwalia, Hatem H. Soliman, Hyo S. Han, Aixa E. Soyano, Youngchul Kim, Rupesh Kotecha, Sasha J. Beyer, Kamran A. Ahmed
Publikováno v:
npj Breast Cancer, Vol 10, Iss 1, Pp 1-7 (2024)
Abstract Trastuzumab-deruxtecan (T-DXd) has demonstrated intracranial efficacy; however, safety and efficacy data remains limited with stereotactic radiosurgery (SRS). A multi-institutional review was performed with HER2+ or HER2-low metastatic breas
Externí odkaz:
https://doaj.org/article/00dfc0b23c294633bf4cfe25f01822be
Autor:
Mestres, Pol, Cortés, Jorge
This paper considers the problem of designing a dynamical system to solve constrained optimization problems in a distributed way and in an anytime fashion (i.e., such that the feasible set is forward invariant). For problems with separable objective
Externí odkaz:
http://arxiv.org/abs/2309.03174