Zobrazeno 1 - 10
of 566
pro vyhledávání: '"Panagou P"'
Autor:
Parwana, Hardik, Black, Mitchell, Hoxha, Bardh, Okamoto, Hideki, Fainekos, Georgios, Prokhorov, Danil, Panagou, Dimitra
Path Planning for stochastic hybrid systems presents a unique challenge of predicting distributions of future states subject to a state-dependent dynamics switching function. In this work, we propose a variant of Model Predictive Path Integral Contro
Externí odkaz:
http://arxiv.org/abs/2411.09198
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
Autor:
Zhou, Minnan, Shaikh, Mustafa, Chaubey, Vatsalya, Haggerty, Patrick, Koga, Shumon, Panagou, Dimitra, Atanasov, Nikolay
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its field of view (FoV) despite line-of-sight obstructions. The signed di
Externí odkaz:
http://arxiv.org/abs/2411.01321
Autor:
Lee, Haejoon, Panagou, Dimitra
In recent years, the notion of r-robustness for the communication graph of the network has been introduced to address the challenge of achieving consensus in the presence of misbehaving agents. Higher r-robustness typically implies higher tolerance t
Externí odkaz:
http://arxiv.org/abs/2409.19465
Autor:
Lee, Haejoon, Panagou, Dimitra
In leader-follower consensus, strong $r$-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or switch
Externí odkaz:
http://arxiv.org/abs/2409.14675
Control Barrier Functions (CBFs) have become powerful tools for ensuring safety in nonlinear systems. However, finding valid CBFs that guarantee persistent safety and feasibility remains an open challenge, especially in systems with input constraints
Externí odkaz:
http://arxiv.org/abs/2409.14616
This paper presents a safety-critical control framework for an ego agent moving among other agents. The approach infers the dynamics of the other agents, and incorporates the inferred quantities into the design of control barrier function (CBF)-based
Externí odkaz:
http://arxiv.org/abs/2408.00918
Autor:
Kim, Taekyung, Panagou, Dimitra
Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure safety, the
Externí odkaz:
http://arxiv.org/abs/2406.07728
This paper develops a scheduling protocol for a team of autonomous robots that operate in long-term persistent tasks. The proposed framework, called meSch, accounts for the robots' limited battery capacity and the presence of a single charging statio
Externí odkaz:
http://arxiv.org/abs/2406.04560
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely risk-aware fixed-t
Externí odkaz:
http://arxiv.org/abs/2403.20258
Autor:
Agrawal, Devansh R., Parwana, Hardik, Cosner, Ryan K., Rosolia, Ugo, Ames, Aaron D., Panagou, Dimitra
Publikováno v:
IEEE Control Systems Letters, Vol 6, Page 2138--2143, 2021
We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical systems. We propose a two-layer architecture, where the high-level generates
Externí odkaz:
http://arxiv.org/abs/2403.18015